Abstract: With a flexible robotic arm as the example and the gauge theory of rotational dynamics as the basis, a general procedure of formulating distributedparameter model for a flexible robotic arm was developed. The effe cts of axialdeflection and centrifugal force on the robotic arm were investigated by researching vibrating frequency. A simplified, exact dynamic equation for a flexible robotic arm was poposed.

Key words: flexible robotic arm, gauge theory, distributedparam eter model, equation of dynamics