Dynamic Model of a Mobile Robot with Long Spatially Flexible Links

Using some agent variables, the general structure of the dynamic model of a spatial mobile robot with N long spatially exible links and N revolute joints has been exposed. It is composed of a set of 5N + 6 nonlinear coupled partial di erential motion equations under the in uence of the boundary conditions. Non-conservative forces/moments have been neglected. While being considered, the general structure of the dynamic model will not change, but a few exciting/damping terms will arise within the agent variables. The base of the robot is an unconstrained rigid body in space and the links as 3D Euler-Bernoulli beams undergo tension-compression, torsion and two spatial bendings while elastic orientation is considerable and the nonlinear part of the geometric Green-Lagrange strain is ignored. When the elastic orientation is neglected, the dynamic model of each link remains more accurate than that of a nonlinear 3D Euler-Bernoulli beam within which the elastic orientation is actually negligible. The obtained dynamic model is capable of creating the nonlinear 3D long Euler-Bernoulli beam and the fully-enhanced/enhanced/generalized nonlinear 3D Euler-Bernoulli beam theories, considering a ying or a xed support.