Nicolae D., Mirela C.

The purpose of the paper is to promote the Finite Element Method for the kinematic and dynamic analysis of the mechanisms with deformable kinematic elements. The method is based on an interface between the dynamic analysis of the rigid solids systems and the dynamic analysis of the kinematic chains with elastic elements. The covered stages corresponde to an analysis with finite elements, specifying that in the movement equation a 'self-excitation' matrix will be introduced. This matrix is useful when taking into consideration the kinematic parameters(velocities, accelerations). The exposed method may be used both at the industrial robots kinematic chains, but especially at the ones from the mobile robots' structure.