冗余自由度操作臂动态特性的合理测试  

Reasonable Measurement to Dynamic Properties of Redundant Manipulator

作　　者：郭成[1] 王启明[1] 蔡光起[1] 

机构地区：[1]东北大学机械工程与自动化学院

出　　处：《东北大学学报（自然科学版）》1999年第2期196-198,共3页Journal of Northeastern University(Natural Science)

基　　金：国家"八六三"高技术项目

摘　　要：操作臂的动态特性对机器人的控制和作业有重要影响，所以操作臂动态特性测试和分析是机器人开发研究和性能评价的重要方面·通过１台新开发的冗余自由度主从操作手从动态测试的研究，探讨了不同位姿，位姿保持方法和不同激振点、拾振点布置条件下的动态特性和模态分析结果，提出了合理规范的操作臂动态特性测试评价方法，并给出了传感器和分析仪器的合理配置，这一工作将为机器人操作臂动态特性测试评价工作的规范、统一乃至形成标准有所帮助·The dynamic characteristic of manipulator has important influence on operation and control of robot,so test and analysis to the dynamic characteristics of robot manipulator are one of main fields of robot study and function evaluating. By mean of testing a new developed robot,which is a master slave manipulator with spare degrees of freedom,experimental modal analysis was done. The frequency respones functions of the manipulator were obtained,the sensor layout and method of test and evaluating were set up. The work is of some helps to the standardization of reasonable test to the dynamic characteristic of robot.

关 键 词：机器人 操作臂 动态特性 测试 冗余自由度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]