云台稳定性分析及结构优化  

Research on the Stability and Optimization of Pan-tilt Turntable

作　　者：魏雅君[1,3,4] 高凤强 陈冠峰[1] 许鸿鑫 黄碧霞 郭雅娥 陈舒婷 朱豪磊 WEI Yajun;;4, GAO fengqiang;; CHEN Guanfeng; XU Hongxin; HUANG Bixia; GUO Yae; CHEN Shuting; ZHU Haolei(Xiamen University Tan Kah Kee College, School of Mechanical and Electrical Engineering, Zhangzhou 363105 ,China; Xiamen University Tan Kah Kee College, School of Information and Science, Zhangzhou 363105, China; Xiamen University Tan Kah Kee College, Tan Kah Kee College-VIBOT Industrial Robot Innovation Laboratory Zhangzhou 363105, China; Xiamen Engineering Technology Center for Intelligent Maintenance of Infrastructures 361000, China)

机构地区：[1]厦门大学嘉庚学院机电工程系,福建漳州363105 [2]厦门大学嘉庚学院信息科学与技术学院,福建漳州363105 [3]厦门大学嘉庚学院嘉庚-微柏工业机器人创新实验室,福建漳州363105 [4]厦门市交通基础设施智能管养工程技术研究中心,厦门361000

出　　处：《机械设计与研究》2018年第5期57-60,共4页Machine Design And Research

基　　金：福建省教育厅中青年教师教育科研项目(JAT170840);2018年度漳州市自然科学基金项目(ZZ2018J26);厦门市交通基础设施智能管养工程技术研究中心开放基金(TCIMI201809)

摘　　要：基于Workbench模态响应面优化方法,针对机载云台的振动导致的稳定性问题进行分析研究。使用敲击法测量了某机器人上的云台的固有频率。并测量带有激振源的情况下云台的激振频率,试验表明该机器人机载云台失稳的主要原因是发生了共振。为证明实验方法的可靠性,以仿真计算为依据,再以实验数据作对比,两者误差在10%以内。为避免共振以提高结构稳定性,使用响应面法对云台进行仿真分析,根据仿真数值对样机进行改进并实验,研究结果表明优化后云台有效避免了低阶共振。上述的研究方法与成果能够应用于不同结构的机载单自由度云台机器人的减振工作。Based on the response surface（ RSM） methodology of Workbench,the stability problems caused by the vibration of the Pan-tilt Turntable were analyzed and studied. The percussion method was used to measure the natural frequency of Pan-tilt Turntable on a robot. The vibration frequency of the Pan-tilt Turntable with vibration sieve was measured. The experiment shows that the main cause of instability of the robot Pan-tilt Turntable is resonance.In order to prove the reliability of the experimental method,the vibration modes of the Pan-tilt Turntable were calculated by finite element numerical simulation and compared with the experimental data,the error was within 10%.In order to avoid the resonance and improve the structural stability,the RSM was used to simulate and analyze the Pan-tilt Turntable. Based on the simulation value,the prototype was improved and experimented. The results showed that the optimized Pan-tilt Turntable effectively avoided low-order resonance.The research methods and achievements of this paper could be applied to the vibration reduction of the single-degree-of-freedom Pan-tilt Turntable with different structures.

关 键 词：云台振动 稳定性 模态分析 响应面优化 振动测试 

分 类 号：TH122[机械工程—机械设计及理论]