A pose-based structural dynamic model updating method for serial modular robots
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- 作者：Richard Phillip Mohamed ; r3mohame@ryerson.ca" class="auth_mail" title="E-mail the corresponding author ; Fengfeng (Jeff) Xi fengxi@ryerson.ca" class="auth_mail" title="E-mail the corresponding author ; Tianyan Chen jimmychen@126.com" class="auth_mail" title="E-mail the corresponding author
- 关键词：Model updating ; Vibration measurement ; Frequency response ; Finite element analysis ; Manipulator dynamics
- 刊名：Mechanical Systems and Signal Processing
- 出版年：2017
- 出版时间：15 February 2017
- 年：2017
- 卷：85
- 期：Complete
- 页码：530-555
- 全文大小：7664 K
文摘
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A new model updating approach for serial modular robots was developed.
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Experimental component testing method to match connection interface conditions.
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Tests are carried out for multiple joint module positions to check for position-based structural dynamic dependencies.
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Solution of overdetermined model updating problem is found using a direct search method.
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Results show that the updated component models can provide accurate results for a serial modular robot assembly in any position.