Abstract:
A new notion of joint is defined. The article is
concerned with the relationship between the Euler-
Bernoulli equation and equation of equilibrium at the
point of elastic line tip. The Euler-Bernoulli equations
should be expanded according to the requirements of the
motion complexity of elastic robotic systems. This yields
the difference in the structure of Euler-Bernoulli
equations for each mode. Mathematical model of the
actuators also comprises coupling between elasticity
forces. General form of the elastic line is a direct
outcome of the system motion dynamics, and must be
described by six equations for position and orientation
of every point on that elastic line.