A closed form dynamic model of manipulators with highlyflexible links is presented in this abstract. The model isbased on a Newton-Euler formulation of motion equationsand a substructuring approach is used to account forlarge deformations. The model, formulated in closed formwith respect to joints and elastic coordinates, accountsalso for quadratic velocity terms. The formulation of themotion equations starts from a data set which can beeither analytically or numerically computed by FE codes.Validation has been carried out by comparing simulationresults with two different multibody softwares.
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