Modal analysis and mode shape selection for modeling an experimental two-link flexible manipulator

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
PublisherPubl by ASME
Pages47-52
Number of pages6
ISBN (Print)0791807444
StatePublished - Dec 1 1991
EventRobotics Research 1990 presented at the Winter Annual Meeting of the American Society of Mechanical Engineering - Dallas, TX, USA
Duration: Nov 25 1990Nov 30 1990

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Volume26

Other

OtherRobotics Research 1990 presented at the Winter Annual Meeting of the American Society of Mechanical Engineering
CityDallas, TX, USA
Period11/25/9011/30/90

All Science Journal Classification (ASJC) codes

  • Software
  • Mechanical Engineering

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    Whalen, M., & Sommer, III, H. J. (1991). Modal analysis and mode shape selection for modeling an experimental two-link flexible manipulator. In American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC (pp. 47-52). (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC; Vol. 26). Publ by ASME.