Ranjan, Rajesh2025-03-112025-03-112023ROLL NO.136103006https://gyan.iitg.ac.in/handle/123456789/2825Supervisor: Dwivedy, Santosha KIn the present thesis, kinematic and dynamic analyses of a manipulator with a rigid link and flexible joint, a manipulator with flexible links, and manipulators with both link and joint flexibilities have been studied. Kinematic and dynamic modeling of flexible manipulators with the finite element method and assumed mode method both have been done.enThesis