Abstract: The dynamic modeling of flexible robots colliding with its working environments is discussed. The system considered is an n-axis serial flexible-link manipulator connected by n joints. The flexibility of each flexible link is described by using the approach of assumed modes. The concept of impulse potential energy is introduced, and the generalized impulse-momentum equations which describe the dynamic responses of the flexible robots with external impacts are developed by employing Lagrange equations. The dynamic responses of the two flexible robots colliding with each other are obtained by combining the generalized impulse-momentum equations and the equations involving coefficient of restitution. The resulting equations are not coupled between the increment of generalized velocities and the impulses, and they are ready for computer programming. The jump discontinuities in system generalized velocities and the impulses at the impact points can be explicitly obtained by solving this mathematic model. In order to validate the method presented, the dynamic simulation of a robot involving impact with its environments is given as an example, which demonstrates the availability of the method.

Key words: Dynamics, Flexible robots, Impact