Two-DoF Oscillatory Test Bench for Low-Frequency Excitation Analysis

Vera A.; Quispe J.; Palomino S.; Alegria E.J. · 2026 12th International Conference on Mechatronics and Robotics Engineering, ICMRE 2026 (2026) · DOI: 10.1109/icmre69538.2026.11533995

Resumen

Mechanical oscillations affect small-device stability, making test-bench evaluation essential; the challenge is enabling reconfigurable mechanisms with independent amplitude and frequency control. This paper introduces a 2-DoF oscillatory test bench that employs two actuators: A rotational crank with fuzzy-PI velocity control and a translational reconfigurable link with PI position control. The dynamic orientation of the oscillating platform is estimated through inertial sensors combined with Kalman filtering. Furthermore, the mechanism's controllers are evaluated under varying payloads representing the device under test. The results confirm reproducible oscillations, enabling reliable testing of small devices under laboratory conditions.

Instituciones: Universidad de Ingeniería y Tecnología