Abstarct: This thesis aims to develop a suitable method for dynamic modeling of planar flexible robots with large deformation baxsed on the transfer matrix method. The transfer matrix method is a simple and accurately acceptable method used for modeling and dynamic analysis. For this purpose, first, the research background, limitations, and numerical difficulties in the transfer matrix method are examined. Then in a case study, numerical difficulties for a flexible robot are considered. To eliminate the numerical difficulties and limitations of this method in the field of robotics, the Riccati discrete-time transfer method is presented. The method implementation on several cases studied includes clamped beam with large deformation, a two-lixnk manipulator with rotating joints, with PR joints and one three-lixnk PRR manipulator is presented. The results of the expressed algorithm are compared with ADAMS software and prior researches’ outputs. Finally, n experimental flexible robot with two rotating and prismatic joints is investigated through the proposed modeling and experiment analysis. It proves that the improved Riccati transfer matrix method can be used as a tool with good accuracy and low computational cost for dynamic modeling of flexible robots with large deformations.