The Study of the Dynamic Equations and Numeral Simulation of Flexible Manipulator with Elastic Joint

Taking one-link flexible manipulator as an example, a new method to establish the dynamic equations of flexible manipulator with elastic joint is presented in this paper. Then the influence of the new method on the error of the end effector is compared with that of the stiff matrix method, which shows the new method can be used in multi-links filexible manipulators with elastic joints.