This paper presents a case study of modal analysis by numerical and experimental techniques, with the purpose of showing the influence of system non-linearities on the results. The analyzed system is an industrial cartesian robot, which presents sources of non-linear behavior typical of industrial machinery. The experimental analysis was done by Impact Hammer excitation and by multi-point Burst-Random and Stepped-Sine excitation. Problems related to the non-linearity of the sliding joints and electrical noise were encountered. Results have been compared with a finite element simulation of the robot structure.
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