Modal Analysis of a Cartesian Robot: Noise and Non-linear Effects

Abstract

Recently some techniques for the detection, identification and description of non-linear behavior have been proposed This paper presents a case study of modal analysis by (‘2-3-4-5-61. These techniques are mainly based on the use numerical and experimental techniques, with the purpose of of sinusoidal excitation with force control and have not been showing the influence of system non-linearities on the implemented in commercial analysis software yet. results. The analvzed svstem is an industlial cartesian robot. Furthermore, based on the literature surveyed by the which presents &WC& of non-linear behavior typical oi industrial machinery. The experimental analysis was done by Impact Hammer excitation and by multi-point Burst-Random and SteppedSine excitation. Problems related to the non-linearity of the sliding joints and electrical nois were encountered. Results have been compared with a finite element simulation of the robot structure.