TY - GEN
T1 - Modal analysis and mode shape selection for modeling an experimental two-link flexible manipulator
AU - Whalen, Mark
AU - Sommer, III, Henry Joseph
PY - 1991/12/1
Y1 - 1991/12/1
N2 - An experimental, planar, two-link, flexible manipulator is described. Results from frequency response and modal testing of the manipulator are presented. The varying vibrational properties of the manipulator through its work space are discussed with an emphasis on the decoupling of individual link modes as the elbow angle approaches 90°. Interpretation of the composite manipulator mode shapes using the individual link modes is discussed. Using the experimental modal analyses as a guide, the choice of assumed modes for a dynamic model based on Bernoulli-Euler eigenfunctions is discussed.
AB - An experimental, planar, two-link, flexible manipulator is described. Results from frequency response and modal testing of the manipulator are presented. The varying vibrational properties of the manipulator through its work space are discussed with an emphasis on the decoupling of individual link modes as the elbow angle approaches 90°. Interpretation of the composite manipulator mode shapes using the individual link modes is discussed. Using the experimental modal analyses as a guide, the choice of assumed modes for a dynamic model based on Bernoulli-Euler eigenfunctions is discussed.
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M3 - Conference contribution
AN - SCOPUS:0026399768
SN - 0791807444
T3 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
SP - 47
EP - 52
BT - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
PB - Publ by ASME
T2 - Robotics Research 1990 presented at the Winter Annual Meeting of the American Society of Mechanical Engineering
Y2 - 25 November 1990 through 30 November 1990
ER -