A study of the dynamic condensation techniques for the machine tools and robotic manipulators

Abstract In this work, the dynamic equation of motion of a lathe spindle and a robotic manipulator are obtained using the finite element analysis. Two dynamic condensation schemes are used to reduce the size of the system matrices. These schemes are: (a) the Guyan's technique and (b) the component mode synthesis. The natural frequencies of the two systems are calculated using these condensation schemes and based on these results the better scheme is identified.