A MODELING SCHEME FOR FLEXIBLE MANIPULATORS BY SUBLINKS AND PASSIVE JOINTS

In this article, a new modeling approach to spatial flexible manipulators is proposed on the basis of reference¹. The modeling scheme first uses virtual rigid sub links and passive joints to model a single flexible link. And then a model of the whole manipulator is obtained by connecting models of links. The parameter identification of the sub-links and passive joints is achieved by using of genetic algorithms. The type of manipulators that the scheme can properly use is discussed. And by quoting the principle of Raleigh damping, the scheme is improved. The results of numerical simulation show the validity of the modeling scheme.