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.
Theoretical and experimental modal analysis of a 6 PUS PKM
La Mura F.;Giberti H.;PIROVANO, GIOVANNI LUCA;Tarabini M.
2019-01-01
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.File in questo prodotto:
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