面向电流信息与模态分析的工业机器人关节振动求解研究  

Research on Joint Vibration Solution of Industrial Robot for Current Information and Modal Analysis

作　　者：赖泽浪 王之海[1,2] 柳小勤 李佳慧[1,2] 冯正江 LAI Zeang;WANG Zhihai;LIU Xiaoqin;LI Jiahui;FENG Zhengjiang(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China;Laboratory of Advanced Equipment Manufacturing Technology of Yunnan Province,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,昆明650500 [2]云南省先进装备智能制造技术重点实验室,昆明650500

出　　处：《机械科学与技术》2024年第1期23-30,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家重点研发计划项目(2018YFB1306103);国家自然基金项目(52165065,52165067)。

摘　　要：在工业机器人健康监测中,针对需采用振动传感器对机器人各关节逐一检测而引起测试成本剧增问题,提出一种基于电流信息与模态分析的关节振动求解方法,该方法可由关节电流经模态转换直接获取关节振动信息。首先,将关节电流信息引入,建立基于关节电流的工业机器人振动模型。然后,由有限元法进行模态分析获取机器人前6阶振型,便于后续模态试验优化测点布置。接着,在力锤激励试验中,基于优化后的测点,测取工业机器人系统质量、刚度等模态参数。之后,将驱动力矩与模态参数带入该模型进行龙格库塔数值求解,得到机器人各关节振动响应。最后,在指定关节转角运行的关节单动与联动实测振动数据验证了本文提出算法的正确性。In health monitoring of industrial robots,a joint vibration solution method based on current information and modal analysis was proposed to solve the problem of increasing testing cost caused by the need to use vibration sensors to detect each joint one by one.Firstly,the joint current information is introduced to establish the vibration model of industrial robot based on joint current.Then,the modal analysis is carried out by the finite element method to obtain the first 6 vibration modes of the robot,so as to optimize the layout of measuring points for subsequent modal tests.Then,in the force hammer excitation experiment,based on the optimized measuring points,the modal parameters such as mass and stiffness of the industrial robot system are measured.After that,the driving torque and modal parameters were put into the model to solve the Runge⁃Kutta numerical solution,and the vibration response of each joint of the robot was obtained.Finally,the proposed algorithm is validated by the measured vibration data of single and linkage joints running at a specified joint angle.

关 键 词：工业机器人 关节电流 有限元 关节振动 模态分析 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]