焊接机器人的试验模态分析  

Experimental modal analysis of welding robot

作　　者：赵言正[1] 刘积昊[1] 管恩广[1] 李培兴 ZHAO Yanzheng;LIU Jihao;GUAN Enguang;LI Peixing(School of Mechanical Engineering,Shanghai Jiaotong University,Shanghai 200240,China;School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《中国测试》2021年第11期64-68,100,共6页China Measurement & Test

基　　金：国家重点研发计划(2017YFB1300603)。

摘　　要：模态分析是了解焊接机器人整机稳定性和可靠性的重要基础。该文基于试验模态分析方法,对焊接机器人的大臂、小臂关节、小臂及整机进行实验模态研究。首先,建立机械人手臂及整机的测点模型,对其进行测力法实验,基于动态信号测试分析系统进行数据采集,并得到频响函数数据;然后,利用采集到的振动数据,运用多参考点最小二乘复频域法(PolyLSCF)对得到频响函数数据进行参数识别,得到焊接机器人的前十阶模态频率均在200 Hz以内。最后,利用模态判定准则(MAC值)对测试得到的焊接机器人的模态进行分析,模态分析结果表明测试得到的各阶模态具有较高的可信度。该研究结果为焊接机器人的结构特性分析、振动故障诊断和预报以及动力特性的优化设计提供依据。Modal analysis is an important foundation to understand the stability and reliability of welding robot.Based on the experimental modal analysis method,the experimental modals of the welding robot's big arm,small arm joint,small arm and the whole machine are studied.Firstly,the test point model of the robot arm and the whole machine are established,and the force measurement method experiment is carried out.Based on the dynamic signal test and analysis system,the data are collected and the frequency response function data are obtained.The PolyLSCF method is used to identify the parameters of the frequency response function data,and the ten order modal frequencies of the welding robot are all within 200 Hz.Finally,the modal judgment criterion(MAC)is used to analyze the modal of the welding robot.The modal analysis results show that the tested modes have high reliability.The results of this study provide the basis for the structural characteristics analysis,vibration fault diagnosis and prediction,and dynamic characteristics optimization design of welding robot.

关 键 词：焊机机器人 试验模态分析法 多参考点最小二乘复频域法 稳态图 

分 类 号：TH132[机械工程—机械制造及自动化]