%0 Journal Article
	%A Haijie Li and  Xuping Zhang
	%D 2016
	%J International Journal of Computer and Information Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 114, 2016
	%T A Method for Modeling Flexible Manipulators: Transfer Matrix Method with Finite Segments
	%U https://publications.waset.org/pdf/10004613
	%V 114
	%X This paper presents a computationally efficient method
for the modeling of robot manipulators with flexible links and
joints. This approach combines the Discrete Time Transfer Matrix
Method with the Finite Segment Method, in which the flexible
links are discretized by a number of rigid segments connected by
torsion springs; and the flexibility of joints are modeled by torsion
springs. The proposed method avoids the global dynamics and has the
advantage of modeling non-uniform manipulators. Experiments and
simulations of a single-link flexible manipulator are conducted for
verifying the proposed methodologies. The simulations of a three-link
robot arm with links and joints flexibility are also performed.
	%P 1086 - 1093