Linear and non-linear behavior of highly flexible single-link arms. Theory and experiments

In this paper the deflection of a single-link flexible beam has been analyzed when a force of any direction is applied at its tip. This deflection is described by a non-linear model whose solution can be obtained by calculating some elliptic integrals which can be evaluated by using numerical integration methods. This non-linear model is valid for any deflection of the beam but a linear model can be used when the beam experiences small deflections. In this work we analyze the boundary between linear and non-linear behavior of the beam (small and large deflections) and the results obtained are contrasted with experimental tests.