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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
Objective To optimize the structural design and controller design of robot.METHODS The dynamic characteristics of spot welding robot were analyzed by experimental modal analysis.Results The low order natural frequency and different pose of robots in typical pose The modal parameters of the robot are analyzed and the relative weakness of the robot is found out.Conclusions indicate that the structural design of the robot should pay attention to the reasonable distribution of the mass and stiffness of each component.At last,