We can easily compute the rigid robot kinematics and dynamics. There is many resources, simulators and modelling tools about it. But i couldnt find any of these for elastic robots. Can you suggest resources and modelling tools?
You should use multi body simulation https://en.m.wikipedia.org/wiki/Multibody_system. There is also modelling software for this. Finite elements are more for structural verification.
I think the vast majority of compliant or "elastic" robots you will find have rigid links, but compliant joints. I believe robots with flexible links is still a topic of active research. So your best bet is to look through academic papers. It is not a simple solution. I found some old papers to get you started:
- Control Of Flexible Robot Arm by J.D. Lee, L. S. Hayna, Ben Li Wang, and KwangHornp Tsai.
- Havlik, S., "Structural compliance of flexible robot arms: analysis, synthesis and control aspects," Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on , vol., no., pp.1622,1625 vol.2, 19-22 June 1991