| 实验模态技术在机器人动态特性分析中的应用 |
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| 引用本文： | 周正干,李然,贠超,宋量量,刘晓平.实验模态技术在机器人动态特性分析中的应用[J].中北大学学报,2000,21(4):290-295. |
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| 作者姓名： | 周正干 李然 贠超 宋量量 刘晓平 |
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| 作者单位： | 北京航空航天大学,机械工程及自动化学院,北京,100083,北京邮电大学,机械学院,北京,100876 |
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| 基金项目： | 国家自然科学基金，教育部留学回国人员科研启动基金，，，， |
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| 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.
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| 关 键 词： | 实验模态分析 动态特性 点焊机器人 |
| 修稿时间： | : |
Research on Robot Dynamic Characteristics with a Method of Experimental Modal Analysis |
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| ZHOU Zheng-gan,LI Ran,YUN Chao,SONG Liang-liang,LIU Xiao-ping.Research on Robot Dynamic Characteristics with a Method of Experimental Modal Analysis[J].Journal of North University of China,2000,21(4):290-295. |
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| Authors: | ZHOU Zheng-gan LI Ran YUN Chao SONG Liang-liang LIU Xiao-ping |
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| 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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| Keywords: | experimental modal analysis dynamic characteristics spot welding robot |
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