Abstract: A calculating method of multibody system dynamics is presented. Using impulse response, the dynamic characteristics is analyzed both in the time and frequency domain. Based on this principle, a general purpose program DAGOMS and a FFT post data processing program PTODA was developed. The experimental model analysis was done on an industrial robot as a typical system. The experimental modal analysis was done on an industrial robot as a typical system. The equivalent stiffness and damping coefficients for the joints were estimated. Using the preceding program numerical calculating results in the time and frequency domain can be obtained. The calculating results are in agreement with the experimental data.

Key words: 动力学, 机构, alloying element, carbide-free bainitic steel, retained austenite, rolling contact fatigue