Dynamics effects on natural frequencies in modal analysis of PKMs

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]

Fichier principal

Conf_Prades_al_Dynamics_effects_PKMs_MMAR_2015 (1).pdf (763.6 Ko)

Origine	Fichiers produits par l'(les) auteur(s)

Olivier Company : Connectez-vous pour contacter le contributeur

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275362

Soumis le : lundi 4 avril 2016-10:59:06

Dernière modification le : jeudi 19 décembre 2024-13:28:34

Archivage à long terme le : lundi 14 novembre 2016-14:41:38

Dates et versions

lirmm-01275362 , version 1 (04-04-2016)

Identifiants

HAL Id : lirmm-01275362 , version 1
DOI : 10.1109/mmar.2015.7283891

Citer

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⟩

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