MODAL ANALYSIS OF A ROBOT ARM USING FINITE ELEMENT ANALYSIS AND MODAL TESTING

摘要

A modal study was performed on a PUMA UNIMATION five axis robot using finite element analysis and modal testing techniques. The finite element analysis utilized Intergraph Corporation's RandMicas modeler for graphic pre- and post-processing and MacNeal-Schwendler Corporation's NASTRAN finite element code. The modal testing was performed with Structural Measurement Systems' STAR software using impact excitation. The paper discusses the techniques and difficulties associated with the analysis and testing of the robot structure and the correlation of the results of the two methods.