一种工业机器人模态分析仿真与试验研究

以某工业机器人为研究对象，基于模态理论，通过仿真和试验方法开展机器人的模态分析. 首先建立典型姿态下机器人的三维模型，利用ANSYS Workbench软件与ADAMS软件分析机器人的理论模态，得到固有频率和模态振型等动态特性，并确定了振动薄弱部位. 其次使用力锤法开展机器人试验模态分析，并对机器人进行振动试验验证仿真结果的正确性. 最后针对振动表现剧烈部位提出优化方案. 分析结果表明:该机器人关节2、关节3易引起低频振动，且机器人小臂相对其他部件刚性较弱. 研究结果可对机器人优化设计与工作性能改进提供理论和试验参考.

Modal analysis simulation and experimental research of an industrial robot

Based on modal theory, modal analysis of an industrial robot was carried out by simulation and experimental methods. Firstly, a three-dimensional model of the robot was established in a typical posture, ANSYS Workbench software and ADAMS software were used to analyze the theoretical mode of the robot, dynamic characteristics such as natural frequency and mode shape were obtained, and the weak vibration part was determined. Secondly, the hammer method was used to carry out the modal analysis of the robot experiment and the vibration test of the robot was used to verify the correctness of the simulation results. Finally, the optimization solution was proposed for parts with severe vibration. The analysis results show that the robot joint 2 and joint 3 are prone to low-frequency vibration, and the rigidity of the small robot arm is relatively weak compared with other parts. The results can provide theoretical and experimental references for robot optimal design and work performance improvement.