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Technical Brief

Exact Modeling of n-link Spatial Serial Structures using Transfer Matrices

[+] Author and Article Information
Arto Kivila

School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia
Arto@gatech.edu

Wayne Book

School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia
wayne.book@me.gatech.edu

William Singhose

School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia
singhose@gatech.edu

1Corresponding author.

ASME doi:10.1115/1.4036555 History: Received November 14, 2016; Revised March 27, 2017

Abstract

Finding natural frequencies and mode shapes for flexible structures can be a challenging problem. Although well-known approaches exist for single flexible links, the problem becomes increasingly more complex when dealing with multiple links. Spatial configurations add an additional layer of difficulty. This work presents a systematic method for finding the natural frequencies and mode-shapes for n-link serial structures using a transfer matrix approach. The method is validated by finite element analysis and experiments.

Copyright (c) 2017 by ASME
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