深海探测机器人动臂的动态响应特性分析

Analysis of Dynamic Response Characteristics of Boom of Deep Sea Exploration Robot

为确保深海探测机器人工作时的可靠性和稳定性,对机械动臂的受迫振动响应特性进行研究。分析了深海波浪载荷的类型和作用效果,分别在不同的风力载荷、运行速度以及水深条件下求解振动响应模型,搭建动态响应特性测试平台,选用MPS-060602系列采集卡,得出不同配重下的振动特性。结果表明:机械臂的振幅和惯性力峰值位于顶端旋转副位置,低阶激振频率为振幅的影响最为显著;根据不同的海深参数选择合理的配重和阻尼系数,可有效地改善机械臂的工作效果。

In order to ensure the reliability and stability of the deep-sea exploration robot,the forced vibration response characteristics of the manipulator were studied.The types and effects of deep-sea wave loads were analyzed.The vibration response models were solved under different wind loads,running speeds and water depths,and the dynamic response characteristics test platform was built.The vibration characteristics under different counterweights were obtained by using MPS-060602 series acquisition card.The results show that the amplitude and inertia force peak of the manipulator are located in the top rotating pair position,and the low-order excitation frequency is the most significant influence of amplitude.The reasonable weight and damping coefficient are selected according to different sea depth parameters,which can effectively improve the working effect of the manipulator.