摘要
对点焊机器人 SIA1 2 0和 HT1 2 0在运动状态下的动态特性进行了分析研究。对比了机器人固定于某位姿和机器人以一定速度运动到该位姿两种情况下结构系统的动态参数 ,指出机器人在运动状态下的整体动态特性与相应固定位姿时的动态特性有一定差别 ,分析了产生这些差别的原因。由此建议在机器人改进设计中应着重提高机器人关节处的刚度。
The dynamic characteristics of spot welding robots SIA120 and HT120 were analyzed by the method of experimental modal analysis. The dynamic parameters of the robots in fixed postures and movement respectively were compared, the difference of the structural dynamic characteristics of the robots in movement and the stiffness were pointed out, and the reason causing the difference was put forward. It is suggested that the joint stiffness of the robots should be increased in the improvement design.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2002年第13期1137-1140,共4页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目 ( 86 3-5 12- 980 2- 0 5
980 2- 0 4- 0 1)
国家自然科学基金资助项目( 5 0 0 75 0 0 8
5 990 5 0 0 1)
关键词
点焊机器人
实验模态分析
动态特性
关节刚度
spot welding robot experimental modal analysis dynamic characteristics joint stiffness
