Application of symbolic manipulation to the analysis of dynamic characteristics of a flexible robot manipulator

This paper presents an investigation into the analysis of dynamic behaviour of a flexible robot manipulator using a symbolic manipulation approach. A constrained planar single-link flexible manipulator is considered. The finite element method is used for dynamic modelling of the system. A symbolic algorithm is developed using Macsyma. A general solution describing the dynamic behaviour of the manipulator is obtained. The effect of physical parameters of the manipulator on the characteristics of the system and the impact of their variation on the minimum-phase features of the system are studied and assessed