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In this work, finite element method based on Lagrangian formulation is used for obtaining the equations of motion of the double link flexible revolute-jointed robotic manipulator. Both the links are considered as Euler-Bernoulli beams. A parametric study is carried out for the double link flexible robotic manipulator through linear modeling technique. A comparative study for dynamic response is carried out for the uniform beam manipulators under various types of excitations.

This work illustrates the effects of various system parameters on the dynamics of flexible link of revolute-jointed rigid-flexible manipulator. Flexible link is considered as a Euler-Bernoulli beam and finite element based on Langrange approach is employed for dynamic analysis. A comparative study is carried out for comparative dynamic response for the variation of system parameters and controlled torque excitation.

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