{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T15:59:14Z","timestamp":1758815954952},"reference-count":22,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2013,5,22]],"date-time":"2013-05-22T00:00:00Z","timestamp":1369180800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This work presents the experimental validation and updating of a flexible multibody model ideated for taking into account installation conditions of industrial serial planar manipulators without resorting to cumbersome modeling. The flexibility of the frame, the manipulator is fixed, is modeled over the flexibility of joints, which is introduced as lumped stiffness. In particular, the flexible frame is included in the model by using the Component Mode Synthesis methodology, in which only the natural modes of vibration and the static constrain modes are accounted. The flexible multibody model has been developed because these commercial machines are mainly used to perform low-speed tasks, and they are designed by taking into account their flexibility at most in the joints. Unfortunately, there are particular installation conditions in which even low-speed tasks can generate low-frequency vibrations that highly interfere with the task. This aspect is considered here, and how to manage this problem is explained by using the developed multibody model. The model is validated through experimental measurements. The experimental tests consist of several modal analyses, together with acceleration and laser Doppler measurements in operational conditions. This methodology takes into account the installation conditions through the model of flexible frame, and gives a tool for studying <jats:italic>ad hoc<\/jats:italic> solutions which prevent the occurrence of unwanted low-frequency vibrations.<\/jats:p>","DOI":"10.1017\/s026357471300043x","type":"journal-article","created":{"date-parts":[[2013,5,22]],"date-time":"2013-05-22T09:04:48Z","timestamp":1369213488000},"page":"1209-1220","source":"Crossref","is-referenced-by-count":2,"title":["Multibody modeling and vibration testing of 3R planar manipulators: effects of flexible installation frames"],"prefix":"10.1017","volume":"31","author":[{"given":"Emiliano","family":"Mucchi","sequence":"first","affiliation":[]},{"given":"Stefano","family":"Fiorati","sequence":"additional","affiliation":[]},{"given":"Raffaele","family":"Di Gregorio","sequence":"additional","affiliation":[]},{"given":"Giorgio","family":"Dalpiaz","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2013,5,22]]},"reference":[{"key":"S026357471300043X_ref20","volume-title":"Modal Analysis Theory and Testing","author":"Heylen","year":"2007"},{"key":"S026357471300043X_ref22","volume-title":"Mechanical Vibrations","author":"Rao","year":"1995"},{"key":"S026357471300043X_ref21","first-page":"183","volume-title":"Proceedings of the 21st Conference of IMAC","author":"Guillaume","year":"2003"},{"key":"S026357471300043X_ref19","volume-title":"Modal Testing: Theory and Practice","author":"Ewins","year":"1984"},{"key":"S026357471300043X_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300305"},{"key":"S026357471300043X_ref18","doi-asserted-by":"publisher","DOI":"10.2514\/3.20638"},{"key":"S026357471300043X_ref16","doi-asserted-by":"publisher","DOI":"10.1115\/1.2836458"},{"key":"S026357471300043X_ref17","first-page":"26","volume-title":"Proceedings of the 22nd International Modal Analysis Conference (IMAC)","author":"Craig","year":"2004"},{"key":"S026357471300043X_ref14","doi-asserted-by":"crossref","first-page":"1313","DOI":"10.2514\/3.4741","article-title":"Coupling of substructures for dynamic analyses","volume":"6","author":"Craig","year":"1968","journal-title":"AIAA J."},{"key":"S026357471300043X_ref12","volume-title":"Proceedings of 12th World Congress in Mechanism and Machine Science","author":"Incerti","year":"2007"},{"key":"S026357471300043X_ref8","volume-title":"Introduction to Robotics","author":"Mckerrow","year":"1991"},{"key":"S026357471300043X_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5"},{"key":"S026357471300043X_ref2","doi-asserted-by":"publisher","DOI":"10.1023\/A:1009773505418"},{"key":"S026357471300043X_ref10","unstructured":"LMS International \u201cLMS Virtual.Lab Motion, Rev 6A,\u201d available at: http:\/\/www.lmsintl.com\/virtuallab (edition 2006), online."},{"key":"S026357471300043X_ref4","doi-asserted-by":"publisher","DOI":"10.1023\/A:1015271000518"},{"key":"S026357471300043X_ref9","volume-title":"Flexible Joint Robots","author":"Readman","year":"1994"},{"key":"S026357471300043X_ref15","volume-title":"Structural Dynamics","author":"Craig","year":"1981"},{"key":"S026357471300043X_ref13","doi-asserted-by":"publisher","DOI":"10.2514\/3.2947"},{"key":"S026357471300043X_ref7","doi-asserted-by":"publisher","DOI":"10.1142\/5290"},{"key":"S026357471300043X_ref1","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511610523"},{"key":"S026357471300043X_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-3974-2"},{"key":"S026357471300043X_ref11","unstructured":"SPINEA, \u201cTwin Spin \u2013 Bearing Reducer Catalogue, available at: http:\/\/www.spinea.sk (2009), online."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357471300043X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,23]],"date-time":"2019-04-23T02:53:49Z","timestamp":1555988029000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357471300043X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,5,22]]},"references-count":22,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2013,12]]}},"alternative-id":["S026357471300043X"],"URL":"https:\/\/doi.org\/10.1017\/s026357471300043x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,5,22]]}}}