配网带电作业机械臂模态分析和谐响应分析

Modal analysis and harmonic response analysis for the distribution live working robot

在车辆和高空环境的共同作用下,机器人本体会不停地振动,导致机械臂的运动精度发生偏差,影响带电作业任务的成功率.文章通过Ansys Workbench软件对这种机械臂进行模态分析,找到引发机械臂共振的振动频率和振动形式,进一步通过谐响应分析,计算机械臂末端由于各种形式振动造成的偏移量,再根据计算的结论,采用机械臂自身的力控系统进行修正,抵消平台振动对机械臂运动造成的运动偏差,提高作业任务的成功率.

The vibration characteristic is complex and variable,which can not be avoided.It results to the deviation of the motion accuracy,which seriously affects the success rate of the live working task.We use the ANSYS Workbench software to make the modal analysis for the UR10,in order to find the vibration frequency and vibration form causing the resonance.Further,we make the harmonic response analysis,in order to calculate the deviation caused by vibration at the end of the robot.According to the simulation,we use the force control system of the UR10 to correct the motion deviation and improve the success rate.