Abstract An original experimental setup, dedicated to the measurement of the dynamic response of structures, is presented. Called the Robotized Laser Doppler Vibrometer (RLDV), it consists in the assembly of a fixed point Laser Doppler Vibrometer (LDV) on a 6-axis industrial robot arm. This allows to measure the 3D velocity on the surface of objects with a wide range of shapes and sizes. In comparison with commercially available solutions, it represents an affordable and versatile tool. First, the motivations and the new challenges associated to the use of a robot arm to do such experiments are discussed. Second, the different strategies implemented to overcome these difficulties are developed. A software solution is proposed. By the use of a virtual model of the experimental setup, the measurement procedure can be designed and simulated in order to preview robot motion and avoid collisions. With a small number of parameters, the good proceeding of the measurement can be insured on a fine measurement mesh. The software is completed by an interface that allows for the setting of the signal acquisition parameters. At the end, all the procedure is automated and long measurements can be achieved with a reduced supervision. To illustrate the proposed setup, an experimental application is developed. The 3D modal shapes of a curved beam are measured and compared with numerical predictions, showing an excellent correlation.

中文翻译：

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机器人化激光多普勒测振仪：使用工业机器人手臂进行 3D 全场速度测量

摘要 提出了一种专门用于测量结构动力响应的原始实验装置。称为机器人化激光多普勒测振仪 (RLDV)，它包括在 6 轴工业机器人手臂上组装固定点激光多普勒测振仪 (LDV)。这允许测量具有各种形状和尺寸的物体表面上的 3D 速度。与市售的解决方案相比，它代表了一种经济实惠的多功能工具。首先，讨论了与使用机器人手臂进行此类实验相关的动机和新挑战。其次，制定了为克服这些困难而实施的不同策略。提出了一种软件解决方案。通过使用实验装置的虚拟模型，可以设计和模拟测量程序，以预览机器人运动并避免碰撞。使用少量参数，可以在精细的测量网格上保证测量的良好进行。该软件由一个允许设置信号采集参数的界面完成。最后，所有程序都是自动化的，并且可以在减少监督的情况下实现长时间的测量。为了说明所提出的设置，开发了一个实验应用程序。测量弯曲梁的 3D 模态形状并与数值预测进行比较，显示出极好的相关性。该软件由一个允许设置信号采集参数的界面完成。最后，所有程序都是自动化的，并且可以在减少监督的情况下实现长时间的测量。为了说明所提出的设置，开发了一个实验应用程序。测量弯曲梁的 3D 模态形状并与数值预测进行比较，显示出极好的相关性。该软件由一个允许设置信号采集参数的界面完成。最后，所有程序都是自动化的，并且可以在减少监督的情况下实现长时间的测量。为了说明所提出的设置，开发了一个实验应用程序。测量弯曲梁的 3D 模态形状并与数值预测进行比较，显示出极好的相关性。