The Finite Segment Method for Recursive Approach to Flexible Multibody Dynamics

In this paper, we study the dynamics and kinematics of serial flexible link manipulators using the finite segment method. In our analysis the flexible manipulators are divided into a set of rigid bodies coupled with springs and dampers. The dynamic equations of multibody system with flexible manipulators are developed by means of spatial operator algebra which expression forms are the basis for a recursive O(n) dynamics algorithm, and the structure is a hybrid of forward and inverse dynamics algorithms for flexible manipulators using the finite segments method. Since the advantages of this method are shown to be automatic considering the geometrical nonlinear and dynamic stiffness terms in control equation and the characteristic of recursive approach of flexibly and conveniently modeling, it is useful and efficient to some certain flexible systems. Finally, to show the validation of this method is an efficient recursive algorithm, an example of two flexible link manipulators is presented, and the numerical results are favorably closed to the fact.