Abstract
This paper deals with the symbolic modeling of manipulators with flexible links. First, we recall the generalization of the Newton Euler equations for an open chain of flexible links. These equations are obtained by applying the D'Alembert's principle to each isolated free body of the chain with Eulerian rigid velocities and Lagrangian elastic ones. This formalism allows us to find the intrinsic dynamic model of links. Second, we force the individual virtual fields to verify the joint equations. For thta, we proceed to a recursive symbolic computation of partial velocities and accelerations. Next, a matricial assembling of the dynamics of free bodies allows us to establish the minimal set of symbolic dynamic equations of an open chain.
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