By Topic

Experimental modal identification of configuration-dependent vibration using smart material transducers with application to a planar parallel robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Xiaoyun Wang ; Dept. of Mech. & Ind. Eng., Toronto Univ. ; Mills, J.K.

Vibration characteristics of flexible robots are usually configuration-dependent and nonlinear, providing a challenge for active vibration control design. Using distributed smart material transducers, it is feasible to monitor these configuration dependent vibration characteristics in real time. In this paper, theoretical background of experimental modal analysis (EMA) using different combinations of distributed lead zirconate titanate (PZT) transducers, accelerometers, and an impact hammer is summarized and a unified procedure for these transducer combinations is presented. This procedure is applied to identify linkage vibration characteristics in a planar parallel robot. EMA results of different transducer combinations are compared. The configuration dependency of linkage vibration is investigated

Published in:

Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on

Date of Conference:

0-0 0