In order to model and analyze the dynamics of flexible joint

the method of identifying flexible joint hysteresis damping characteristics was studied. The dynamic characteristics of flexible joint at different amplitudes and frequencies were tested. The elastic force and damping force at different frequency parameters were identified based on the method of variable stiffness and damping. Therefore the relationships between the frequency and stiffness coefficient and damping coefficient were discovered

and a nonlinear dynamic model of flexible joint was established. The calculated dynamic properties of the amplitude dependence for the joint with the proposed model were compared with experiment. Result shows that a good agreement is obtained and the torque increase a little with the increase of the frequency. Elastic moment is linear with the pendulum angle in the small amplitude

and it gradually becomes nonlinear with the increase of the amplitude.