一类二自由度并联机器人的动力学分析

Dynamics Analysis of a 2-DOF Parallel Robot

为了准确评价机构动态性能,以模态试验为主要内容,采用LMS动态分析系统对并联机器人进行了动力学试验.通过简化模型的模态分析,对样机进行直接的动态性能评估,获得该时变机构的模态参数变换规律.同时分析了该机构在典型位姿处的整体模型的模态,得到影响动平台精度的关键模态,确认了需要改进的结构参数.试验结果可用于改善机构的动力学性能.通过对比分析验证了本研究中提出的试验方法适用于时变模态的试验研究.

Dynamics test, mainly modal test, was finished aiming to analyze and estimate the mechanical performance of the parallel robot. The LMS testing system was applied to accomplish the modal analysis. The dynamics performance of the robot was evaluated and the modal parameter variations were also achieved based on the modal analysis of the simplified model. The modal analysis of the entirety model was explicated with modal shapes of the typical configurations as examples. The key modes which affect work precision were found out and the parameters to be improved were confirmed. The result of this test is useful to improve the dynamics performance of the robot. It is validated by comparative analysis that the testing process put forward in this work is applicable to other modal tests on mode variation.