Design and implementation of an ERLS-based 3-D dynamic formulation for flexible-link robots

Modeling and dynamic analysis of robots with flexible-links are still an open field of research. Indeed, to design and control effective light robot manipulators and high-performance flexible mechanisms for efficient manufacturing systems, an accurate dynamic model representing the system behavior is necessary. In this work, a novel method for dynamic modeling of 3-D robots with large displacements and small elastic deformations is developed by means of an Equivalent Rigid Link System (ERLS) approach. Thanks to this, the kinematic equations of the Equivalent Rigid Link System and the compatibility equations of the displacements at the joints are always decoupled. After the theoretical development, the kinematic and dynamic models have been implemented ona MatlabTM software simulator and validated.