A New Approach to Finite Element Modeling and Simulation of Flexible Robot Manipulators

Traditional robot manipulators that have large links need powerful actuators and their massive structures strongly limit their operating speed. Flexible manipulators having lightweight links are designed to overcome these disadvantages and in this case their flexibility is an important and unavoidable characteristic. In this paper, a new approach to finite element modeling of flexible manipulators, using Hamiltonian mechanics and simulation of their dynamic behavior is presented. The finite element model includes all non-linear terms, such as dynamic interactions between linkages. A computer program is developed in the MATLAB medium to simulate the effects of flexibility on the robot’s motion quality. Our results indicate the importance of flexibility and existence of considerable errors in the end-effector's positions.