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Communication Dans Un Congrès Année : 2011

Reduced Elastodynamic Modelling of Parallel Robots for the Computation of their Natural Frequencies

Résumé

In this paper is presented an approach for computing the first natural frequencies of parallel robots. This approach, based on the Rayleigh-Ritz approximation, aims at reducing the model dimension by decreasing the size of the matrices describing the robot mass and stiffness, saving computational time and avoiding inaccuracy due to ill-conditioning. Thus it can be used in the design procedure as well as in real-time control. Simulations are carried out on a PRRRP robot modelled in 3D and comparisons with FEA software are presented.
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Dates et versions

hal-00553090 , version 1 (25-06-2019)

Identifiants

  • HAL Id : hal-00553090 , version 1

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Sébastien Briot, Anatol Pashkevich, Damien Chablat. Reduced Elastodynamic Modelling of Parallel Robots for the Computation of their Natural Frequencies. 13th World Congress in Mechanism and Machine Science, Jun 2011, Guanajuato, Mexico. ⟨hal-00553090⟩
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