云台稳定性分析及结构优化

Research on the Stability and Optimization of Pan-tilt Turntable

基于Workbench模态响应面优化方法,针对机载云台的振动导致的稳定性问题进行分析研究。使用敲击法测量了某机器人上的云台的固有频率。并测量带有激振源的情况下云台的激振频率,试验表明该机器人机载云台失稳的主要原因是发生了共振。为证明实验方法的可靠性,以仿真计算为依据,再以实验数据作对比,两者误差在10%以内。为避免共振以提高结构稳定性,使用响应面法对云台进行仿真分析,根据仿真数值对样机进行改进并实验,研究结果表明优化后云台有效避免了低阶共振。上述的研究方法与成果能够应用于不同结构的机载单自由度云台机器人的减振工作。

Based on the response surface（ RSM） methodology of Workbench,the stability problems caused by the vibration of the Pan-tilt Turntable were analyzed and studied. The percussion method was used to measure the natural frequency of Pan-tilt Turntable on a robot. The vibration frequency of the Pan-tilt Turntable with vibration sieve was measured. The experiment shows that the main cause of instability of the robot Pan-tilt Turntable is resonance.In order to prove the reliability of the experimental method,the vibration modes of the Pan-tilt Turntable were calculated by finite element numerical simulation and compared with the experimental data,the error was within 10%.In order to avoid the resonance and improve the structural stability,the RSM was used to simulate and analyze the Pan-tilt Turntable. Based on the simulation value,the prototype was improved and experimented. The results showed that the optimized Pan-tilt Turntable effectively avoided low-order resonance.The research methods and achievements of this paper could be applied to the vibration reduction of the single-degree-of-freedom Pan-tilt Turntable with different structures.