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Meeting 2026 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2026)
Symposium 2026 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2026)
Presentation Title Measuring Natural Frequencies in a 6 DOF Industrial Robot Performing Additive Manufacturing Tasks Using Experimental Modal Analysis
Author(s) Mahati Sri Kuram, Erik Komendera
On-Site Speaker (Planned) Mahati Sri Kuram
Abstract Scope The natural frequencies of a 6 DOF industrial robot are critical in predicting its dynamic behavior during additive manufacturing tasks such as 3D printing. Understanding these dynamic properties is necessary to improve precision, accuracy, and overall print quality. This paper aims to measure the natural frequencies of a 6 DOF robot using Experimental Modal Analysis. The robot system will first be modeled and simulated in the MuJoCo physics engine using Python. An accelerometer mounted on the end effector will be used to measure the dynamic response of the physical robot, and the experimental data will be compared with simulation results to evaluate model accuracy. Previous research has primarily applied Experimental Modal Analysis to robotic milling, where high-impact forces contribute significantly to deformation and positioning errors. This work extends those methods to additive manufacturing applications to assess their effectiveness and support future improvements in vibration-aware motion planning and structural accuracy.
Proceedings Inclusion? Undecided

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