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Modal Identification of a Robot Arm with a Closed Cross Section

Füllekrug, U. and Polster, M. and Haupt, H. (2004) Modal Identification of a Robot Arm with a Closed Cross Section. Project Report, DLR-Interner Bericht. 232-2004 C 01, 40 S.

Full text not available from this repository.

Abstract

Industrial robots are more and more used for highly dynamic operations. For the adequate design of control laws it is no longer sufficient to consider the robot arms as rigid. The arms flexibility and vibration characteristics have to be taken into account. Since analytical Finite Element models need to be verified and validated experimental investigations are usually performed. The report describes the modal identification tests on a robot arm with an open cross section. The robot arm was softly suspended by bungees and excited by impacts applied with a modal hammer and by a burst random applied with an electrodynamic shaker. Based on the measured Frequency Response Functions 9 modes are identified very clearly in the frequency range up to 1100 Hz. The identified modal parameters are presented and discussed.

Item URL in elib:https://elib.dlr.de/14454/
Document Type:Monograph (Project Report, DLR-Interner Bericht)
Additional Information: LIDO-Berichtsjahr=2004,
Title:Modal Identification of a Robot Arm with a Closed Cross Section
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Füllekrug, U.UNSPECIFIEDUNSPECIFIED
Polster, M.UNSPECIFIEDUNSPECIFIED
Haupt, H.UNSPECIFIEDUNSPECIFIED
Date:2004
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:40
Status:Published
Keywords:structural dynamics, modal identification, robotics
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research (old)
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Flexible Aircraft (old)
Location: Göttingen
Institutes and Institutions:Institute of Aeroelasticity
Deposited By: Erdmann, Daniela
Deposited On:16 Sep 2005
Last Modified:14 Jan 2010 21:52

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