Modeling and modification of the flexible robot with single controllable local degree of freedom

In order to suppress vibration of flexible robots, the concept of controllable local degree of freedom is proposed and a physical model of flexible robot with single controllable local degree of freedom is built, with a flexible main chain and a rigid branch link. The dynamic model is established using Kane method and assumption modal method. Numerical simulation is carried out and the theoretical modification is conducted via experimental modal analysis and parameters identification techniques. The results show that the modified theoretical model is much closer to actual dynamic performance of flexible robot.