Abstract
This paper presents the dynamic model of multilink flexible robot with elastic rotational restraints at the joint‐link
coupling. The proposed approach is flexible as it can mimic the classic clamped case model considering an infinite
hinge rotational stiffness coefficient. The particular case of flapping motion is also a degenerate case of the proposed
model where the stiffness coefficient is almost zero. Considering that most joint‐ link couplings are subject to some
degree of elastic deformation, the proposed approach is flexible and suitable for modelling multilink flexible robots.
Simulations were conducted to assess the effect of the elastic rotational constraints at the actuator gearhead shaftlink
couplings. The simulation results demonstrated that the magnitudes of the relative motion at the actuator
gearhead shaft‐ link couplings have a substantial influence on the vibration frequency of the planar flexible‐ link robot
tip.