摘要：A closed form dynamic model of manipulators with highly
flexible links is presented in this abstract. The model is
based on a Newton-Euler formulation of motion equations
and a substructuring approach is used to account for
large deformations. The model, formulated in closed form
with respect to joints and elastic coordinates, accounts
also for quadratic velocity terms. The formulation of the
motion equations starts from a data set which can be
either analytically or numerically computed by FE codes.
Validation has been carried out by comparing simulation
results with two different multibody softwares.
