Abstract: In this paper, a new recursive technique for construction of dynamic equations of flexible manapulators is suggested based on the Jourdain's principle. The structure of the system is described through regular labelling method; The joint relative coordinates and modal coordinates are used to describe the large displacements between contiguous bodies and small deformations of bodies. At first, the recursive kinematic relations are derived, and in every step of recursion, contributions of every body to the gen...