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Authors: Francesco 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

ISBN: 978-989-758-380-3

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.

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Paper citation in several formats:
Mura, F.; Giberti, H.; Pirovano, L. and Tarabini, M. (2019). Theoretical and Experimental Modal Analysis of a 6 PUS PKM.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 276-283. DOI: 10.5220/0007836902760283

@conference{icinco19,
author={Francesco La Mura. and Hermes Giberti. and Linda Pirovano. and Marco Tarabini.},
title={Theoretical and Experimental Modal Analysis of a 6 PUS PKM},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={276-283},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007836902760283},
isbn={978-989-758-380-3},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Theoretical and Experimental Modal Analysis of a 6 PUS PKM
SN - 978-989-758-380-3
AU - Mura, F.
AU - Giberti, H.
AU - Pirovano, L.
AU - Tarabini, M.
PY - 2019
SP - 276
EP - 283
DO - 10.5220/0007836902760283

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