Dynamic Modeling and Development of Symbolic Calculation Software for N-DOF Flexible-Link Manipulators Incorporating Lumped Mass

Table 2

Parameters of components in the experimental devices.

Parameters	Values
Length of arms
Mass of arms
Young’s modulus of arms
Second moment of area of arms
Second moment of area of arms
Lumped mass of joints
Torque values of motors
Gear reduction ratio
Coulomb friction of actuators
Viscous friction of actuators