Study on dynamic modeling of compliant manipulators

Dynamic modeling for flexible manipulators is studied in this article. First, we introduce a new dynamic modeling approach and discuss representations of the system´s general properties with screw theory. Then, we illustrate the effectiveness of the new modeling approach by comparative modeling and analysis with the finite element method. Finally, we confirm the modeling accuracy of the Ding-Holzer method with the results of concrete numerical simulations. Our study shows that the Ding-Holzer method is a very simple and accurate technique for the dynamic modeling of flexible manipulators.