【摘要】 用试验模态分析方法对A型和B型两台点焊机器人的动态特性进行了分析研究 ,得出机器人在典型位姿下的低阶固有频率。通过对机器人在不同位姿下的模态特性分析 ,指出机器人整体结构中相对薄弱的环节 ,并指出 ,机器人各构件的质量和刚度分布应相互协调和匹配 ,其合理与否对机器人的动态性能有较大影响。最后提出了机器人结构设计的改进方案。更多还原

【Abstract】 The Dynamic characteristics of two spot welding robots model A and model B are given out by the method of experimental modal analysis, and the lower order of natural frequencies of these two robots under two typical postures are obtained. Through the analysis of the modal characteristics of the robots under two postures, relative weaker parts of the robots are pointed out. It pointed out that the distribution of the mass and stiffness of the robots should be matched, which have great influences on the dynamic characteristics of the robots. The improving suggestion for the two robots is put forward.更多还原