Jacobian-based natural frequency analysis of parallel manipulators
Mechanism and Machine Theory（2020）
Abstract
•A novel natural frequency analysis for parallel manipulators is introduced.•Analysis combines rigid body inertia model with flexible-body stiffness analysis.•Experimental verification shows error of 6% at natural frequencies of 30 Hz.
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Key words
Parallel manipulator,Natural frequencies,Eigenmodes,Stiffness,Inertia,Screw theory
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