Journal of Theoretical
and Applied Mechanics

38, 1, pp. 51-64, Warsaw 2000

Equations of motion and dynamic analysis of planar manipulator with flexible link

Jacek Olejak
A mathematical model of a planar Sandia type manipulator is presented. The manipulator consists of two links: rigid and flexible, which are connected by rotary joints. The modal method was used to discretise the flexible link. The calculation results have been compared with the results of measurements. A good agreement has been achieved.
Keywords: dynamics; control; manipulator