A simplified finite element model of multilink robots with flexible links

In this paper the problem of modeling two-joint planar robots with a flexible forearm is considered. A simplified finite element approach is proposed in order to obtain simple and structured models which can easily take into account transient phenomena and external variable forces; gravity is also kept into account. The model can be easily generalised to robots with multiple elastic links. A comparison is made with the eigenfunction expansion model in stationary conditions by evaluating the eigenvalues of the elastic link. The remarkable structure of the model can be useful in control designing, owing to the fact that the usual properties of mechanical systems are still valid.