Dynamics of Chain of Flexible Links

[+] Author and Article Information
M. Benati

Engineering Mathematical Institute, University of Genova, 16145 Genova, Italy

A. Morro

Biophysical and Electronic Engineering Department, University of Genova, 16145 Genova, Italy

J. Dyn. Sys., Meas., Control 110(4), 410-415 (Dec 01, 1988) (6 pages) doi:10.1115/1.3152704 History: Received August 01, 1987; Online July 21, 2009


A Lagrangian approach is developed for the dynamics of a chain with flexible links. Each link is modeled as a system with a finite number of degrees of freedom, one of them describing the rotation, the other ones the flexibility. While the approach is developed for chains with any numbers of links, the dynamic equations are written explicitly for a chain with two links and a payload.

Copyright © 1988 by ASME
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