Abstract— In this paper, dynamic modeling and path planning of flexible-link manipulators are presented. Each link of flexible manipulator is modeled by finite number of elements, and the displacement of element is formulated based on nodal coordinates and shape functions of beam element. Then, the kinetic and potential energy of the system is developed using the displacement in the reference coordinate systems. Then, by employing the Lagrange principle, the nonlinear dynamic model of the system is derived and validated.

Index Terms— Flexible-link, Manipulator, Dynamic modeling, Finite element method

Cite: M Nazemizadeh, M Taheri, and Sh Nazeri, " Dynamic Modeling and Path Planning of Flexible-Link Manipulators," International Journal of Mechanical Engineering and Robotics Research, Vol. 3, No. 2, pp. 223-228, April 2014.