GENERAL MODEL FOR FLEXIBLE MANIPULATORS COOPERATING A CLOSED-LOOP LINKAGE

On the basis of the dynamic equation of single flexible robot, the kinematic and dynamic coordinated constraints are established for the cooperation system, using the linearized differential relationship in a closed-loop linkage. The general dynamic equations of flexible-manipulators cooperating rigid closed-loop linkage are then developed, for the first time, based on the standard kinematic parameters of the payload task. A simulation of two planar 3R flexible robots manipulating a four-bar linkage is illustrated successfully.