Measurement of the Dynamic Model of a PUMA 560 Robot Using Experimental Modal Analysis

[+] Author and Article Information
P. Elosegui

Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ, U.K.

J. Mech. Des 116(1), 75-79 (Mar 01, 1994) (5 pages) doi:10.1115/1.2919380 History: Received May 01, 1992; Online June 02, 2008


This paper presents two different models of the structural dynamics of a PUMA 560 robot: a frequency response, and a modal model. The first consists of a set of frequency response functions measured from the structure. The eigenvalues and the mode-shape, which comprise the modal model, are extracted from the response model. In addition to these linear models, the paper describes the nonlinear characteristics of the structure. How the non-linearities affect the measurement technique and the model accuracy is also described.

Copyright © 1994 by The American Society of Mechanical Engineers
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