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

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