Abstract
Spherical parallel manipulator (SPM) finds in many engineering applications like aerodynamic simulators, medical devices, precision machine tools and telescopes. The dynamic characteristic of SPM plays an important role in determining the performance and stability of the manipulator. The present paper reports modal analysis of a 3-DOF SPM with full-circle twist model. A solid model of the SPM is developed using Unigraphics Nx and imported into Ansys for modal analysis. First, three fundamental natural frequencies and mode shapes are extracted. Natural frequencies are validated with the experimental results.
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Kulkarni, V., Chandrashekara, C.V., Sethuram, D. (2022). Modal Analysis of 3-RRR SPM Model. In: Kumar, R., Chauhan, V.S., Talha, M., Pathak, H. (eds) Machines, Mechanism and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-0550-5_66
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DOI: https://doi.org/10.1007/978-981-16-0550-5_66
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