六杆并联机器人模态实验与动力学特性分析

对典型位姿下的六杆并联机器人机械结构进行模态实验，并以实验模态结果为基础进行机器人机械结构的动力学分析。在模态实验中，依次记录多点脉冲激励下的单点加速度响应，利用多自由度实模态辨识与拟合技术，计算得到机器人在某典型位姿下的前8阶固有频率、阻尼比，以及模态质量、模态刚度、模态阻尼和相应的振型矩阵。本文所得结果可作为机器人动态优化设计与控制器设计的参考。

Experimental Modal Measurement and Dynamical Analysis for 6-Link Parallel Robot

The experimental modal analysis for the 6 link parallel robot assembly is achieved in the given pose, and the dynamic characteristics are anaylzed with the obtained modal testing results. In the modal testing, by applying impulse forces on different positions, the acceleration responses of a specified point are recorded sequentially. The first 8 natural frequencies, together with the modal mass, modal stiffness, modal damping and modal shape matrices of the robot in the given pose, are all calculated, following with the real modal identification and fintness techniques for the multi-degree of freedom mechanical system. The obtained results in this paper provide useful references for robot optimal dynamic design and controller design.