主从机械手模态测试与分析  

Modal measurement and analysis of master-slave manipulator

作　　者：沈琛林 赖雅茹 段宏 吴德慧 王广开 王路森 SHEN Chen-lin;LAI Ya-ru;DUAN Hong;WU De-hui;WANG Guang-kai;WANG Lu-sen(China Nuclear Power Engineering Co.,Ltd.,Beijing 100840)

机构地区：[1]中国核电工程有限公司,北京100840

出　　处：《机械设计》2022年第5期129-134,共6页Journal of Machine Design

摘　　要：主从机械手传动精密结构复杂,其自身振动对其传动及稳定操作放射性物质有重要影响。通过简便易行的锤击脉冲激振法建立机械手的模态测试分析系统,有效解决机械臂这种复杂设备的模态测试。通过有限元预分析为模态试验方案提供参考,有限元分析和模态试验结果对比验证了有限元模型的准确性。该测试分析方法能准确识别机械手模态特性参数,为动力分析、结构优化和性能评估提供了坚实基础。The Master-slave manipulator’s vibration greatly affects its transmission and stable operation of radioactive materials because of its precision and complexity. In this article, the system of modal measurement and analysis is set up for the manipulator, with the help of the method of hammering pulse excitation, which is easy and simple. Thus, it provides a solution for modal measurement of complex equipment, for example, the master-slave manipulator. Beside, the finite-element pre analysis provides reference for modal measurement. By comparing the results obtained from the finite-element analysis and those obtained from the experimental modal, it’s verified that the finite-element modal of the master-slave manipulator is accurate. By means of modal measurement and analysis, the parameters of the master-slave manipulator’s modal characteristics can be worked out in a precise manner, which lays a solid foundation for dynamic analysis, structure optimization and performance assessment.

关 键 词：主从机械手 模态试验分析 有限元 锤击脉冲激振 

分 类 号：TH113.1[机械工程—机械设计及理论]