Research on Robot Dynamic Characteristics with a  Method of Experimental Modal Analysis

周正干; 李然; 贠超; 宋量量; 刘晓平

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Research on Robot Dynamic Characteristics with a Method of Experimental Modal Analysis

更新时间：2026-09-14

- Research on Robot Dynamic Characteristics with a Method of Experimental Modal Analysis
- 实验模态技术在机器人动态特性分析中的应用
- Issue 4, Pages: 290-295(2000)
- 作者机构：
  
  1. 北京邮电大学机械学院,北京,100876
  2. 北京航空航天大学机械工程及自动化学院,北京,100083
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2000
- 稿件说明：
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周正干, 李然, 贠超, et al. Research on Robot Dynamic Characteristics with a Method of Experimental Modal Analysis[J]. 2000, (4): 290-295.
DOI：

周正干, 李然, 贠超, et al. Research on Robot Dynamic Characteristics with a Method of Experimental Modal Analysis[J]. 2000, (4): 290-295. DOI：

摘要

目的　为了优化机器人的结构设计和控制器设计 .方法　用实验模态分析方法对点焊机器人的动态特性进行了分析研究 .结果　得出了机器人在典型位姿下的低阶固有频率和不同位姿下的模态参数变化规律

找出了该机器人的相对薄弱环节 .结论　指出机器人的结构设计要讲究各构件质量和刚度的合理分布

最后提出了机器人结构设计的改进方案

Abstract

Aim\ In order to optimize structure and controller of robot

dynamic characteristics of a spot welding robot is analyzed with a method of experimental modal analysis. Methods\ Law of variations of modal parameters of the robot at different structural configurations as well as its lower orders of natural frequencies under two typical structural configurations is found out. Results\ Relatively weaker areas in the strength of the robot frame are carried out. Conclusions\ It is pointed out that the distribution of the mass and stiffness of the robot should be reasonable

and an optimized design method is demonstrated.

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references

[1 ]　 Tudashi S,Kaoru K.Structure analysis of industrial robots[J].Yasukawa Senki,1 984 ,( 50 ) :31 3～ 34 2 .

[2 ]　杨景义 ,王信义 .实验模态分析 [M].北京 :北京理工大学出版社 ,1 990 :68～ 81 .

　 Joh Y D,Lee C W. Excitation methods and modal parameter identification in complex modal testing of rotatingmachinery[J].The International Journal of Analytical and Experimental Modal Analysis,1 993,8( 3) :2 39～ 2 4 1 .

[4 ]　 Braccesim C,Carfagni M.Using experimental modal analysis to simulate structural dynamic modifications[J].Technical Review,B& K,1 988,( 1 ) :2 8～ 38

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