A COMPONENT MODE SYNTHESIS APPLIED TO MECHANISMS FOR AN INVESTIGATION OF VIBRATION

A mathematical model was formulated to predict the modal parameters of a four-bar type robot manipulator at each joint position by using the component mode synthesis method and assuming that the system under consideration is static. Component mode synthesis is a method of connecting system substructures to predict the dynamic behavior of an assembly, based on that of each substructure, and in this paper is applied to the robot which is a typical position-dependent system. The modal data of each component required as the inputs of the synthesis were obtained experimentally in order to provide a realistic model. The modal characteristics calculated by the synthesized model were compared to those obtained by modal tests at various positions of the manipulator. The comparison showed that they pretty well corresponded to each other, and the model, therefore proves to be valid. Thus the approach is one which can be used to estimate the vibrational characteristics of position-dependent systems. © 1992.