Comparison of finite element and experimental modal analysis of multi-joint flexible robotic arm

Abstract

Taking a multi-joint robotic arm for example, the flexibility of links and joints are considered. The dynamic characteristics of the flexible robotic arm are studied based on finite element method and experimental modal analysis. The analysis results are compared. First, pre-stressed modal analysis of the flexcible robotic arm are carried out applying software ANSYS Workbench. The natural frequencies and corresponding modal shapes under first 6 orders are calculated. Then, the experimental modal analysis is performed by using LMS Test. Lab to obtain the former 6 ranks of natural frequencies, modal shapes and damping ratios. The results provides important parameters for the dynamic structure design of multi-joint flexible robotic arm. Finally, the pre-stressed modal analysis results are compared with the experimental results. A reliable basis for the research methods of dynamic characteristics is provided.