工业机械手振动模拟测试平台的搭建  

The Establishment of Vibration Simulation Test Platform for Industrial Manipulator

作　　者：张佳福 王延超 杨光贺 沙硕 ZHANG Jia-Fu;WANG Yan-Chao;YANG Guang-He;SHA Shuo(CRRC Shandong Wind Power Co.,Ltd.,Jinan Shandong250104,China;Beijing Institute of Technology,Beijing100081,China)

机构地区：[1]中车山东风电有限公司,山东济南250104 [2]北京理工大学,北京100081

出　　处：《机电产品开发与创新》2022年第2期110-113,共4页Development & Innovation of Machinery & Electrical Products

摘　　要：搭建了一款能够模拟振动环境的实验测试系统平台,能够产生不同振动频率模拟不同的振动环境,使机械手能够在不同振动频率下操作振动模拟器,从而检测机械手的稳定性及控制输入信号的变化。为了保证振动频率的真实性,通过测振仪对振动模拟器进行了标定。而所设计的移动平台则为机械手提供了可靠的安全保障,通过SolidWorks有限元模块对移动平台进行分析,通过跌落实验验证了移动平台有足够的结构强度。通过搭建本实验测试系统平台,为下一步安全检测机械手在不同振动环境下操作设备时控制信号的变化提供了保障。An experimental test system platform that can simulate vibration environment is built. The vibration simulator designed to simulate the vibration environment can generate different vibration frequencies, so that the manipulator can operate the vibration simulator at different vibration frequencies, so as to detect the stability of the manipulator and the change of control input signals. At the same time, in order to ensure the authenticity of vibration frequency, the vibration simulator is calibrated by vibration meter. The designed movable platform provides a reliable security guarantee for manipulators. At the same time, the movable plat form is analyzed by SolidWorks finite element module, and it is verified by drop experiment that the movable platform has sufficient structural strength. Through the establishment of the test system platform, it provides a guarantee for manipulators to operate equipment in different vibration environments to detect the changes of control signals in the next step.

关 键 词：振动模拟器 移动平台 有限元分析 机械手的控制信号 振动频率 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]