Dynamic Modeling and Development of Symbolic Calculation Software for N-DOF Flexible-Link Manipulators Incorporating Lumped Mass

Considering the complex dynamic modeling of multi-DOF planar flexible manipulators, a general-purpose method for the rigid-flexible coupling dynamic modeling of N -DOF flexible manipulators is proposed in this paper, and symbolic calculation software is developed. The modeling method is based on the Lagrange equation and assumed mode method (AMM). First, the N -DOF flexible manipulator is divided into two parts, which are assumed to be rigid and...