<h2>AAS 95-322</h2><h2>Dynamics and Control of Mobile Flexible Manipulators with Slewing and Deployable Links</h2><h4>S. Hokamoto, Saga University, Saga, Japan, V. J. Modi, The University of British Columbia, Vancouver, B.C., Canada, A. K. Misra, McGill University, Montreal, Quebec, Canada</h4><h2> Abstract </h2>This paper studies a rather novel concept of a variable geometry manipulator consisting of interconnected modules, each comprised of two links, the upper one capable of slewing while the lower one is free to deploy, to form a chain-type geometry.  Highly nonlinear, nonautonomous and coupled equations of motion are derived for a general three-dimensional case accounting for the link and joint flexibilities as well as damping.  An order n algorithm is developed for integration of the equations whose validity is assessed through maintenance of constant total energy for a conservative system.  This is followed by a parametric study of the system dynamics.  Finally, a numerical example illustrates trajectory control of the end-effector.  The concept promises to have a wide variety of applications in the field as diverse as space technology, nuclear engineering and forestry.<br><br>