DocumentCode
3663755
Title
Dynamics effects on natural frequencies in modal analysis of PKMs
Author
Julien Prades;Franck Jourdan;Olivier Company;Sébastien Krut;François Pierrot
Author_Institution
Department of Robotics of LIRMM, University of Montpellier and CNRS
fYear
2015
Firstpage
300
Lastpage
305
Abstract
Technology improvement makes PKM faster and faster. From this speed it appears uncontrolled vibrations which disrupt PKM functioning. The urge to produce modelling enabling to predict dynamic perturbations is more and more important. To this day, linearized dynamic models are incomplete, ignoring account of speed and acceleration over trajectory. In this paper, a complete dynamic linearization will be presented, and will allow to reveal high speed influence among PKM eigenvalues.
Keywords
"Mathematical model","Robot kinematics","Vibrations","Acceleration","Jacobian matrices","Joints"
Publisher
ieee
Conference_Titel
Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on
Type
conf
DOI
10.1109/MMAR.2015.7283891
Filename
7283891
Link To Document