Modeling and evaluation of the lumped flexible-joint, rigid-link manipulators

In this paper, we propose lumped methods of flexible elements of Flexible-Link manipulator to Flexible-Joint, and compare their performance evaluation to suggest the most suitable modeling method. The first method is to obtain the Equivalent Stiffness through the static analysis of Flexible-Link. The second method is to obtain the natural frequency through the modal analysis of the Flexible-Link System and to derive the Equivalent Stiffness. The final method is to construct an FRF (Frequency Response Function) Model using the input and output signals of the Flexible-Link System and to find Equivalent stiffness through approximation using polynomial and exponential functions. Flexible-Joint and Rigid-Link manipulator is modeled based on Equivalent Stiffness obtained by the above methods, and compared with the existing Flexible-Link model.