Analysis of multi-link flexible manipulators via asymptotic expansions

Asymptotic perturbation methods are employed to extend the results for the complicated case of multilink flexible manipulators. As shown in the one-link case, the dynamics of multilink flexible manipulators also reduce to their rigid body dynamics as a small parameter embedded in the model vanishes. Furthermore, the flexural effect and its coupling to the rigid body dynamics are investigated by appealing to the higher-order terms in the expansion. A two-link flexible manipulator is considered.<
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