• Elasto-dynamics
  • Modal Analysis
  • FEM


In the design process of a robot characterized by high dynamic performances and high stiffness, the modal analysis represents a powerful tool that can be exploited to optimize the structural components of the manipulator. Here, the group modeled the elasto-dynamic behaviour of a parallel kinematic robot capable of pure translation. Le frequencies and the modal forms have been computed as the robot was moving in different spatial configurations inside its work space. The analysis have been performed usinf FEM techniques while the numeric predictions have been validated using an experimental modal analysis (impact test) performed in collaboration with the Mechanical and Thermal Measurement group of the DIISM, Università Politecnica delle Marche.


  • Palmieri G., Martarelli M., Palpacelli M.C., Carbonari L., Configuration-dependent modal analysis of a Cartesian parallel kinematics manipulator: Numerical modeling and experimental validation, Meccanica, 49 (4), pp. 961-972, 2014. DOI: 10.1007/s11012-013-9842-4