基于ADAMS的六关节工业机器人模态仿真分析研究

Research on Modal Simulation Analysis of Six-axis Industrial Robot Based on ADAMS

针对工业机器人的动态特性,以六关节工业机器人为研究对象,应用有限元软件NASTRAN和多体动力学软件ADAMS搭建刚柔耦合模型,引入关节柔性,对其进行整机模态仿真分析方法的研究,采用试验模态分析法进行了模态测试。通过对比仿真和试验得到前10阶固有频率和振型,其固有频率仿真相对误差控制在10%以内,振型基本保持一致,从而验证了六关节工业机器人整机模态仿真分析方法的准确性。进一步分析研究关节和关节臂刚性对机器人整机模态的影响规律,为整机刚柔耦合动力学分析、结构动态特性分析、结构优化设计和改进提供了一定的参考意义。

Based on the dynamic characteristics of industrial robot,and the six-axis industrial robot taken as the research object,the rigid-flexible coupling model is built by the finite element software NASTRAN and the multi-body dynamics software ADAMS.Joint flexibility is introduced to conduct the study on whole machine modal simulation analysis method,and the modal test is carried out by the experimental modal analysis method.By comparing the first 10 natural frequencies and modes obtained from simulation and test,the relative error of natural frequency simulation is controlled within 10%,and the modes are basically consistent,which verifies the accuracy of the whole machine modal simulation analysis method of six-axis industrial robot.The influence of joint stiffness and arm stiffness on robot mode is further analyzed and studied,providing references for the whole machine rigid flexible coupling dynamic analysis,structural dynamic characteristic analysis,structural optimization design and improvement.