Parameterized finite element modeling and experimental modal testing for vibration analysis of an industrial hexapod for machining
Mechanism and Machine Theory（2022）
摘要
•Complete analytical inverse kinematics of an industrial hexapod•Parameterized FE model of the hexapod using Ansys parametric design language•Sensitivity analysis of the geometrical parameters of the hexapod using the FE model•Experimental modal analysis to obtain dynamic properties of the hexapod•Accurate modes prediction with less than 5% difference between the FE model and experiments
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关键词
Industrial robot,Parallel robot,Hexapod,Kinematic/dynamic models,Finite element model,Ansys parametric design language,Vibration
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