Experimental modal identification of configuration-dependent vibration using smart material transducers with application to a planar parallel robot

Author

Wang, Xiaouyn ; Mills, James K.

Author_Institution

Dept. of Mech. & Ind. Eng., Toronto Univ.

fYear

0

fDate

0-0 0

Firstpage

234

Lastpage

239

Abstract

Vibration characteristics of flexible robots are usually configuration-dependent and nonlinear, providing a challenge for active vibration control design. Using distributed smart material transducers, it is feasible to monitor these configuration dependent vibration characteristics in real time. In this paper, theoretical background of experimental modal analysis (EMA) using different combinations of distributed lead zirconate titanate (PZT) transducers, accelerometers, and an impact hammer is summarized and a unified procedure for these transducer combinations is presented. This procedure is applied to identify linkage vibration characteristics in a planar parallel robot. EMA results of different transducer combinations are compared. The configuration dependency of linkage vibration is investigated

Keywords

intelligent materials; robot dynamics; vibration control; active vibration control design; configuration-dependent vibration; distributed smart material transducers; experimental modal analysis; experimental modal identification; flexible robots; lead zirconate titanate transducers; linkage vibration; planar parallel robot; Accelerometers; Couplings; Intelligent actuators; Intelligent sensors; Intelligent structures; Modal analysis; Monitoring; Parallel robots; Transducers; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on

Conference_Location

Shatin

Print_ISBN

0-7803-9315-5

Type

conf

DOI

10.1109/ROBIO.2005.246269

Filename

1708628