Abstract
The hypothetical mode method is used to analyze the dynamic characteristics of the nonlinear flexible manipulator system, and a simplified model is given. First, the Hamilton principle and hypothetical modal discretization method are used, and the first-order approximate coupling model based on the deformation displacement field of the flexible manipulator is derived under the condition of considering the second-order coupling amount of the axial deformation of the flexible manipulator caused by the lateral deformation. Then the model is simplified, ignoring the influence of the longitudinal deformation of the flexible manipulator, and an approximate simplified model is given. Finally, the coupled model and simplified model under the conditions of non-inertial system and large-range motion are given.
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