KINEMATICS OF A MUITI-LINK MANIPULATOR WITH ELASTIC PROPERTIES

The paper presents the results of mathematical modeling of a multi-link manipulator with perfectly rigid links connected by ideal hinges, as well as the results of a study in which the links are modeled as elastic bodies and the connecting hinges between the links contain highly rigid elastic elements. The manipulator models and research methods allow, within the linear theory of elasticity, to represent the kinematics of the elastic manipulator's motion within the framework of a perfectly rigid model by introducing additional quantities due to the elasticity of the structural elements.