Dynamics effects on natural frequencies in modal analysis of PKMs

Abstract : In this paper a new linearized dynamical model applied to PKM will be presented. This model allows us to do modal analysis by taking into account the dynamics of the robot. Finally, its influences on natural frequencies of robots will be highlighted on two numerical exemples.
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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. ⟨10.1109/mmar.2015.7283891⟩. ⟨lirmm-01275362⟩

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