In this paper, two nonlinear dynamic models of flexible manipulator with translational and rotational joints are formulated based on Finite Element Method (FEM). Dynamic equations of manipulators are derived by using Lagrange equations. | Journal of Science & Technology 127 (2018) 022-028 Dynamic Model of Flexible Link Manipulators with Translational and Rotational Joints Bien Xuan Duong1,*, My Anh Chu1, Khoi Bui Phan2 1 Military Technical Academy, No. 236, Hoang Quoc Viet, Cau Giay, Hanoi, Viet Nam Hanoi University of Science and Technology, No. 1, Dai Co Viet, Hai Ba Trung, Hanoi, Viet Nam Received: August 10, 2017; Accepted: June 25, 2018 2 Abstract In this paper, two nonlinear dynamic models of flexible manipulator with translational and rotational joints are formulated based on Finite Element Method (FEM). Dynamic equations of manipulators are derived by using Lagrange equations. The new model TR (Translational-Rotational) is developed based on single flexible link manipulator with only rotational joint. The difference between flexible manipulators which have only rotational joints and others with translational joint is presented in RT model. Dynamic behaviors of flexible manipulators are analyzed through values of joints variable and elastic displacements at the end-effector point. The numerical simulation results are calculated by using MATLAB/SIMULINK toolboxes. The results of this study play an important role in modeling generalized planar flexible two-link robot, in designing the control system and basing on select the suitable structure robot with the same request. Keywords: Dynamic model, flexible link, translational joint, elastic displacements 1. Introduction1 using assumed modes method (AMM). Other authors have focused on the flexible manipulator with a link slides through a translational joint with a simultaneous rotational motion (R-T robot). Pan et al [4] presented a model R-T with FEM method. The result is differential algebraic equations which are solved by using Newmark method. Yuh and Young [5] proposed the partial differential equations with RT system by using AMM. Al-Bedoor and Khulief [6] presented a general dynamic model for R-T robot based on FEM and Lagrange .
