Authors:
Francesco La Mura
1
;
Hermes Giberti
1
;
Linda Pirovano
2
and
Marco Tarabini
2
Affiliations:
1
Universita’ degli Studi di Pavia, Dipartimento di Ingegneria Industriale e dell’Informazione, Via A.Ferrata 5, 27100 Pavia and Italy
;
2
Politecnico di Milano, Department of Mechanical Engineering, 20156 Milano and Italy
Keyword(s):
Modal Analysis, Parallel Kinematics Machines, Multibody, Natural Frequencies.
Related
Ontology
Subjects/Areas/Topics:
Computer Vision, Visualization and Computer Graphics
;
Image and Video Analysis
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
System Identification
;
System Modeling
;
Time-Frequency Analysis
Abstract:
In this article the modal analysis of a manipulator is presented and discussed from a theoretical and experimental perspective. The work focuses on both the simulation and the experimental stages of the modal analysis on six DOF parallel kinematics machine. In particular, the behavioural vibrational trend of the kinematics structure under analysis is presented within the entire workspace. Critical aspects of each test phase are highlighted as well as data post processing methods used. Finally, a map capable of summarizing the modal analysis results is shown.