A method of analysing the vibration response of robotic structures is presented. The method employs the receptance technique, which allows a complex structure to be divided into simpler sub-systems. These sub-systems are then joined using the appropriate end conditions. The approach allows experimental and theoretical subsystems to be used so that the measured characteristics of hydraulic actuators and theoretical predictions of robotic linkage characteristics may be combined. The method is illustrated for a simple robot structure.
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