超重环境桥架式直角坐标机器人的试验模态分析

EXPERIMENTAL MODAL TEST OF BRIDGE-TYPE CARTESIANROBOT SUBJECT TO GREAT CENTRIFUGAL ACCELERATION

介绍了对自行研制的桥架式直角坐标机器人的试验模态分析 ,该机器人工作在超重环境 (≥ 10 0 g)下 .试验中 ,基于模态分析的基本原理 ,采用力锤激励法 ,多点激振单点拾振 ,通过变时基采样方法采集力信号和加速度信号 ;利用 DASP进行模态分析 ,得出机器人的前三阶模态参数 .

An experimental modal test of a bridge-type Cartesian robot subject to great centrifugal acceleration was presented. Based on the fundamental principle of modal analysis, the method of force-hammer excitation was adopted, applying exciting forces on multiple points and collecting the responding signals from a single point. The Varied-Time-Base analyzing method was used. After the modal analysis by DASP, three foremost modals were obtained.