• CN:11-2187/TH
  • ISSN:0577-6686

›› 2001, Vol. 37 ›› Issue (6): 38-42.

• 论文 • 上一篇    下一篇

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120kg点焊机器人试验模态分析

员超;宋量量;李然;周正干;刘晓平   

  1. 北京航空航天大学机器人研究所;北京邮电大学
  • 发布日期:2001-06-15

EXPERIMENTAL MODAL ANALYSIS OF 120kg SPOT WELDING ROBOTS

Yun Chao;Song Liangliang;Li Ran;Zhou Zhenggan;Liu Xiaoping   

  1. Beijing University of Aeronautics & Astronautics Beijing University of Posts & Telecommunications
  • Published:2001-06-15

摘要: 用试验模态分析方法对A型和B型两台点焊机器人的动态特性进行了分析研究,得出机器人在典型位姿下的低阶固有频率。通过对机器人在不同位姿下的模态特性分析,指出机器人整体结构中相对薄弱的环节,并指出,机器人各构件的质量和刚度分布应相互协调和匹配,其合理与否对机器人的动态性能有较大影响。最后提出了机器人结构设计的改进方案。

关键词: 点焊机器人, 动态特性, 试验模态分析

Abstract: The Dynamic characteristics of two spot welding robots model A and model B are given out by the method of experimental modal analysis, and the lower order of natural frequencies of these two robots under two typical postures are obtained. Through the analysis of the modal characteristics of the robots under two postures, relative weaker parts of the robots are pointed out. It pointed out that the distribution of the mass and stiffness of the robots should be matched, which have great influences on the dynamic characteristics of the robots. The improving suggestion for the two robots is put forward.

Key words: Dynamic characteristic, Experimental modal analysis, Spot welding robot

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