The mathematical foundations of modal analysis assume material linearity and time invariance on a tested structure. This is, however, rarely the case in a real modal test. Complex structures often present bolted or threaded connections, or assemblies with multiple material interfaces. These connections induce non-linear force/response relationships in the structures, which hinder the application of traditional modal excitation methods. The proposed Scalable Automatic Modal Hammer (SAM) allows testing complex structures at single force/response points for a precise material characterization.