Dynamic Analysis of Elastic Arms Using Assumed Mode Method

Flexible manipulators have used in many high technologies. Due to wide application of flexible manipulators, study of their dynamic behavior is an important and appealing task. This paper presents dynamic modeling and analysis of the flexible manipulators using assumed mode method. To do this, the displacement of the robot is assumed a combination of a rigid motion and an elastic deflection. The flexible deflection is formulated by means of assumed mode method. Finally, some simulations are done to investigate the applicability of the method.