机器人手臂的动态特性实验研究分析

EXPERIMENTAL RESEARCH ON DYNAMIC CHARACTERISTICS OF ROBOT ARMS

  • 摘要: 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.

     

    Abstract: A robot PUMA760 has been experimentally measured and tested with proper gesture and underproper conditions,and with dynamic characteristics of its structure being systematically analyzed by usingthe method of experimental model analysis.This task provides an effective and unique approach to robotdesign with the purpose of dynamic characteristics optimization and vibration suppression.Utilizing themethods and programs of this paper,one can also obtain the dynamic characteristics of a robot of anothertype.

     

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