Advances on dynamics modeling and experimental studies for flexible manipulators

This paper summarized the latest advances on the flexible manipulator modeling theories and relevant experiments of scholars at home and abroad, systematically expounded the study status of the methods to describe the flexible manipulator deformations, the joint dynamics modeling, the dynamic modeling methods of flexible manipulator systems, the stiffening and softening effects of the arms and the experimental methods. Then this paper proposed the present problems and shortcomings of manipulator dynamics theory and experimental study, predicted the main direction and core technology of the flexible manipulator dynamics research and analyzed key technical problems about the optimal mode order selection of flexible manipulators in detail. The system parameter optimization based on the dynamic characteristics of flexible manipulators, the determination of joint driving laws, the stiffening and softening effects of manipulator arms under high speed, the fine modeling of flexible manipulator joints and the crawling phenomenon in the super low speed of space flexible manipulators were presented.