Journal of Applied Sciences1812-56541812-5662Asian Network for Scientific Information10.3923/jas.2003.510.523NahviH. H. Ahmadi 7200337Mechanical flexibility of robotic manipulators is a major problem in motion control. The slender, flexible mechanical structure may cause undesirable vibrations, which has to be controlled in order to achieve satisfactory performance. To control flexible systems, an accurate dynamic model is essential. Basically, two types of flexibility exist in the robots; link flexibility and joint flexibility. Both have been addressed in the literature, individually or together. In this paper, a dynamic model for a two arm flexible manipulator, carrying a payload with rotary inertia, is presented. Arm and joint flexibilities are considered. The Lagrangian approach in conjunction with the finite element method is employed in deriving the equations of motion. All the dynamic coupling terms between the system reference rotational motion, joint torsional flexibility and arm bending flexibility are considered. The results of numerical simulation show the significant effect of joint flexibility in the vibrations of compliant manipulators in the form of high frequency and small amplitude vibrations. The effects of the payload are shown to be increasing the amplitude of vibrations and decreasing the frequency of oscillations. The dynamic model is highly nonlinear and the dynamical equations of motion are solved using numerical integration procedures.]]>Al-Bedoor, B. and A. Almusallam,200035785820Gamarra-ado, V. and E. Yuhara,199917523528Li, D., D.J. Zu and A.A. Goldberg,19983310311044Low, K.H.,199452955968Shigang, Y., Y. Yueqing and B. Shixiam,199732209219Usoro, P., R. Nadira and S. Mahil,1986108198203Xi, F., R.G. Fenton and B. Tabbarok,1994116826831