Dynamic modeling of a rigid-flexible manipulator using Hamilton´s principle

This paper presents the development of a dynamic modeling for a rigid-flexible manipulator robot, generated using Hamilton´s principle. First, the kinetic and potential energies are determined and introduced in the Lagrangian to apply the Hamilton´s principle. Then, a method of variable separation is used to simplify the dynamic equations of motion. Simulation results are given, finally, to show the end-point flexibility and dynamic behavior with and without damping.