An investigation into dynamic modelling of robot manipulators

A dynamic model including flexibility for multi-links flexible robotmanipulator in the spatial motion is presented. A finite element method andLagrangian approach are used to develop the equations of motion. By theconcept of the Equivalent Rigid Link System (ERLS) , the generalizedcoordinates are selected to represent the total motion including a largemotion and a small motion. Two sets of coupled nonlinear equations areobtained where the equations representing small motions are linear withrespect to the small motion variables.A detailed model of two rigid-flexible link in plane with payload atthe end of manipulator is presented. This model is also based on the finiteelement method and Lagrangian approach. This model takes intoconsideration the effect of gravity.To check the validity of the proposed model, the results of two casestudies based on the proposed model have been compared with thosepresented in published papers. The later, however, are based on differentmodels. This comparison of results shows good agreement. The resultsobtained clearly show that the new suggested model is efficient and thesolution techniques is giving a good accuracy.Effects of physical parameters of the link and payload on thedynamic behaviour of the manipulator have been investigated to help thedesigner to weight competing parameter.