Efficient technique in computational dynamic modeling of a flexible manipulator with large deformation

In the flexible manipulators, the links could be modeled using rigid elements and torsional springs, and similarly, the flexibility in actuators could be represented with the equivalent springs. This study applies the discrete time transfer matrix method for the dynamic analysis of flexible manipulators with large deformations. On a first-priority basis, transfer matrices are determined, including all the flexible link/joint mechanism components. A single transfer matrix is established for prismatic and rotational actuators with equivalent springs to build the robotic transfer matrix library. On the second priority, to reduce the computation time, a novel algorithm is developed. In the proposed flexible link discretization, the first element of the flexible link is considered as a function of other elements. It is designed to build a mathematical model as closely as possible to the realistic model with fewer elements. It is presented that this modeling technique can employ discrete data extracted by the sensors. The simulation primarily focuses on developing flexible beam/joint models validated in ADAMS. Besides, the dynamic behavior of a flexible PR robot with external forces acting on the linkage system is analyzed and examined. The result shows that the proposed modeling method affords a low computational time while the manipulator control needs to manage fast responses.