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, GA 30332
e-mail: Arto@gatech.edu

Wayne Book, William Singhose

School of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 14, 2016; final manuscript received March 27, 2017; published online June 28, 2017. Assoc. Editor: Jongeun Choi.

J. Dyn. Sys., Meas., Control 139(11), 114502 (Jun 28, 2017) (5 pages) Paper No: DS-16-1555; doi: 10.1115/1.4036555 History: Received November 14, 2016; Revised March 27, 2017

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.

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Grahic Jump Location
Fig. 1

Fixtures for model verification: (a) fixture 1 with tip masses, (b) fixture 2, and (c) fixture 3

Grahic Jump Location
Fig. 2

Experimental FRFs: (a) fixture 1, (b) fixture 1 with tipmass, (c) fixture 2, (d) fixture 2 with mass loads, and (e) fixture 3



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