Error localization using mode shapes: An application to a two link robot arm

Abstract

A technique to localize errors between two modal models is presented. Mode shape difference are calculated from each model. A global comparison of the ratios of these corresponding differences is used to identify the physical locations on the structure where stiffness differences exist between the two models. Some of the strengths and limitations of the technique are illustrated using the mode shapes of two similar finite element models with a known stiffness difference. The technique is then applied to a two link robot arm for which a finite element model exists and a modal test has been conducted. The results of the error localization aid the selection of physical parameters to be updated in the finite element model. Sensitivity methods are used to correlate the finite element model to the modal test. The results of the correlation are presented. 5 refs., 3 figs., 3 tabs.