Abstract
A method for the numeric computation of the equations of motion for robots with elastic arms is presented. The robots considered may consist of an arbitrary number of rigid and elastic bodies interconected by joints. The equations of motion are derived using d'Alembert's principle. For the elastic deformations a Ritz approximation is performed. The equations of motion are first developed in a general nonlinear form and then linearized. It will be shown that the nonlinear terms of second order in the deformation geometry have to be considered in order to get the correct linear equations. According to the described method a computer program has been installed and two examples will be presented.
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