Dynamics effects on natural frequencies in modal analysis of PKMs

Julien Prades (1) , Franck Jourdan (2, 3) , Olivier Company (1) , Sébastien Krut (1) , François Pierrot (1)

1 DEXTER - Robotique médicale et mécanismes parallèles
2 LMGC - Laboratoire de Mécanique et Génie Civil
3 BIOTIC - Biomécanique des Interactions et de l'Organisation des Tissus et des Cellules

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.

Domaines: Robotique [cs.RO]; Automatique / Robotique; Vibrations [physics.class-ph]

Julien Prades, Franck Jourdan, Olivier Company, Sébastien Krut, François Pierrot. Dynamics effects on natural frequencies in modal analysis of PKMs. MMAR: Methods and Models in Automation and Robotics, Aug 2015, Miedzyzdroje, Poland. pp.300-305, ⟨10.1109/mmar.2015.7283891⟩. ⟨lirmm-01275362⟩