Frequency Analysis of Articulated Robot
Pages: 90 - 108
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Participants:
Kadbim Karim Muhsin |
Summary:
This paper presents a comprehensive frequency analysis of articulated robot. The purpose of a
frequency response analysis is to compute the behavior of a articulated robot subjected to
time-varying excitation. The transient excitation is explicitly defined in the time do.l!lain. The
force applied to the structure is known at each instant in time. F orcel> can be in the fonn of
applied forces or enforced motions. The important results obtained from the frequency
analysis are typically displacements, velocities, accelerations, eigenvalues, dgenvectors, and
mode shapes of the robot nodes. Depending upon the structure and the nature of the loading,
two di fferent methods are used for the frequency response analysis direct and modal.The
direct method performs an analytical analysis on the complete coupled equations of motion.
The modal method utili:res lhe mode shapes of the robot to reduce and oocouple the equations
of motion {when modal method is used); the solution is then obtained through the summation
of the individual modal responses.