A SINGLE DIRECTION RECURSIVE CONSTRUCTION METHOD FOR DYNAMIC EQUATIONS OF FLEXIBLE MANAPULATORS
柔性机械臂动力学方程单向递推组集方法

In this paper, a new recursive technique for construction of dynamic equations of flexible manapulators is suggested based on the Jourdain's principle. The structure of the system is described through regular labelling method; The joint relative coordinates and modal coordinates are used to describe the large displacements between contiguous bodies and small deformations of bodies. At first, the recursive kinematic relations are derived, and in every step of recursion, contributions of every body to the generalized mass matrix and generalized force matrix are formed through calling the body's mass matrix and force matrix in absolute coordinates. Finally, the method in this paper is demonstrated through an example of a manapulator with three flexible links.