Experimental Modal Analysis of Industrial Articulated Robot

Abstract

To improve dynamic contouring accuracy of a six-axis industrial articulated robot, it is essential to understand its natural vibration modes and their physical causes. this paper presents the experimental modal analysis performed on a six-axis robot. The experiment results show that the tested robot has three natural modes under 100 Hz, and the rotational and tilt stiffness of A2- and A3-axes, as well as the translational stiffness of the base unit, is among major contributors to these lower-frequency modes.