一种基于模态测量的机器人关节刚度辨识方法

A Method for Identifying Joint Stiffness of Robot Based on Modal Measurement

研究了KUKA-KR60机器人的关节传动结构,提出了一种基于模态测量的机器人关节刚度辨识方法。通过建立等效关节刚度模型,采用力锤模态实验获取机器人的单关节扭转振动固有频率和振型,借助ADAMS软件建立机器人虚拟样机,调整关节刚度并进行模态分析以得到与实验结果一致的固有频率和振型,从而以动态测量的方式,实现机器人关节刚度的辨识,更加准确地反映机器人关节动力学特性并降低试验成本;同时,所得到的固有频率和振型可用于机器人工作过程中的动态特性分析。

In this paper,research was conducted on the joint driving structure of KUKA-KR60 robot.A method for identifying joint stiffness of robot based on modal measurement was proposed.In the method,firstly,via the force hammer mode experiments,the equivalent joint stiffness model was established to obtain the natural frequency and mode shape of the single joint torsional vibration.Secondly,a virtual prototype of the robot was developed using the ADAMS,the joint stiffness value was adjusted and the modal analysis was carried out to obtain the natural frequency.The mode shape obtained in this research was consistent with the experimental results,so that it proves that the identification of the joint stiffness of the robot can be achieved by dynamic measurement and more accurately reflect the dynamic characteristics of robot joints and reduce the test cost.At the same time,the obtained natural frequency and mode shape can be used for dynamic analysis of industrial robots.