Parameter identification of the testbed of a novel gearless pitch-roll wrist

The work reported here pertains to the low-frequency dynamic analysis of the testbed for a novel gearless pitch-roll wrist (PRW). The testbed is excited with harmonic inputs that produce periodic responses of the multiple-input multiple-output system. The input-output data measured are then processed to identify damping and stiffness values of the flexible components of the testbed. The inertial parameters are computed from the 3D CAD model of the mechanism. The paper highlights a novel approach of averaging the response data in order to obtain the best parameter estimates of the linear mechanical system under test.