In this paper, a two-link flexible manipulator is analyzed using finite element approach whose links are undergoing combined bending and torsional vibrations. Mathematical model of the flexible manipulator is obtained using Lagrangian dynamics. The links are modelled as Euler-Bernoulli beams and discretized using ‘space-frame’ and ‘plane-frame’ elements. The present work deals with various non-linear effects like, coupling between rigid and flexible degrees of freedom, centrifugal and Coriolis effects and presence of gravity. The mathematical model is validated using results available in the literature. The novelty of the present work lies in inclusion of torsional effects and thus highlighting their effects on positional accuracy of the flexible manipulator.

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