Computational efficient discrete time transfer matrix method for large deformation analysis of flexible manipulators

Abstract

In this article, a large deformation analysis of a flexible manipulator is examined by using the discrete time transfer matrix method. Since this robotic analysis is very demanding in terms of both computation time and memory usage, the main goal is to reduce the computational complexity compared to the conventional algorithm. In this study, the proposed model is validated with Euler–Bernoulli beam and a corresponding ADAMS model. A planar robotic arm in the presence of links and joints flexibility is studied. It concludes that the theoretical formulation attributes for large flexible multibody systems and practical robotic application.