Error localization using mode shapes: An application to a two link robot arm
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.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE; USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 6148931
- Report Number(s):
- SAND-91-2297C; CONF-920234-1; ON: DE92002014
- Resource Relation:
- Conference: 10. international modal analysis conference (IMAC), San Diego, CA (United States), 3-6 Feb 1992
- Country of Publication:
- United States
- Language:
- English
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42 ENGINEERING
ROBOTS
SENSITIVITY ANALYSIS
COMPUTERIZED SIMULATION
CORRELATION FUNCTIONS
ERRORS
FINITE ELEMENT METHOD
MANIPULATORS
MATHEMATICAL MODELS
MOTION
ROTATION
EQUIPMENT
FUNCTIONS
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
NUMERICAL SOLUTION
REMOTE HANDLING EQUIPMENT
SIMULATION
990200* - Mathematics & Computers
420200 - Engineering- Facilities
Equipment
& Techniques