工业六轴机器人末端抖动的研究

Research on Jitter of Industrial Six-axis Robot Terminal

为研究某新型工业六轴机器人在运动过程中产生的剧烈抖动问题,对机器人末端的抖动特性进行分析。基于激励-本体-末端的振动传递模型,提出了适用于工业六轴机器人运动时末端抖动分析测试的方案。该方案通过将振动实验测试、单轴工作振动实验测试和机器人本体固有频率测试相结合,可有效分析出机器人运动中末端抖动的影响因素,提高机器人工作中的运行精度。

In order to analyze and solve the jitter issue found in the motion process of a new type six-axis robot,eliminate the influence of the robot terminal jitter and improve the accuracy of the robot,this paper proposed a new testing scheme for the jitter analysis of the six-axis robot moving along a path by using the real working condition,excitation-body-receiver vibration transfer model,and experimental testing methods.By combining the vibration test,uniaxial work vibration test and natural frequency test of the robot body,the scheme can effectively analyze the impact of the robot trajectory on the terminal jitter phenomenon.