Dynamic Analysis of Flexible Structures Using Component Mode Synthesis

[+] Author and Article Information
M. De Smet, C. Liefooghe, P. Sas, R. Snoeys

Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300B, B-3030 Heverlee, Belgium

J. Appl. Mech 56(4), 874-880 (Dec 01, 1989) (7 pages) doi:10.1115/1.3176185 History: Received May 10, 1988; Revised January 25, 1989; Online July 21, 2009


In this paper a dynamic model of a flexible robot is built out of a finite element model of each of its links. The number of degrees-of-freedom of these models is strongly reduced by applying the Component Mode Synthesis technique which involves the preliminary calculation of a limited number of mode shapes of the separate links. As can be seen from examples, the type of boundary conditions thereby imposed in the nodes in which one link is connected to the others, strongly determines the accuracy of the calculated resonance frequencies of the robot. The method is applied to an industrial manipulator. The reduced finite element model of the robot is changed in order to match the numerically and experimentally (modal analysis) determined resonance data. Further, the influence of the position of the robot on its resonance frequencies is studied using the optimized numerical model.

Copyright © 1989 by ASME
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