S.F Dehkordi - Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, ۱۶۸۴۶-۱۳۱۱۴, Iran
M.R Jamshidi - Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, ۱۶۸۴۶-۱۳۱۱۴, Iran
M Mojarradi - Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, ۱۶۸۴۶-۱۳۱۱۴, Iran
P Monfared - Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, ۱۶۸۴۶-۱۳۱۱۴, Iran

In this paper, the motion equation of flexible revolute-prismatic joints manipulator was derived andverified by the IUST robotic laboratory experimental setup. The system in comparison to previous ones has two maindifferences: (1) The flexible part of the system vary with respect to time, (2) Each arm contain two part; rigid hubs withonly rotational motion and the flexible part, slide through the hubs. Links have both rotation and reciprocationabsolute motions. Furthermore, the Experimental setups designed and manufactured in IUST robotic laboratory, forpresenting the idea in real world. Finally, the results concluded from software simulation compared with theexperimental system to evaluate the model precision.

Flexible manipulator, Gibbs-Appell formulation, Revolute-Prismatic joints, IUST R-P joints setups