论文部分内容阅读
为使机器人结构达到优化设计,解决其结构振动问题,除需在静力上优化结构外,还需对其结构的动态特性进行研究。本文利用实验模态分析法,对 PUMA760 型机器人在特定姿态位置情况下,进行了实验测试,并系统地分析了其结构动态特性。这样,为进一步分析优化机器人的动态特性和抑制机器人的结构振动,提供了一种独特而有效的设计方法和途径.利用本文中的方法及所编程序,也能获得其它型号机器人的结构动态特性。
In order to optimize the design of the robot structure and solve the structural vibration problem, the dynamic characteristics of the robot structure must be studied in addition to the structural optimization. In this paper, the experimental modal analysis method is used to test the PUMA760 robot in a specific position, and its dynamic characteristics are systematically analyzed. In this way, a unique and effective design method and approach is provided for further analysis and optimization of the dynamic characteristics of the robot and the suppression of the structural vibration of the robot. The structural dynamics of other types of robots can also be obtained by using the method and the programmed program herein .