【摘要】 对点焊机器人 SIA1 2 0和 HT1 2 0在运动状态下的动态特性进行了分析研究。对比了机器人固定于某位姿和机器人以一定速度运动到该位姿两种情况下结构系统的动态参数 ,指出机器人在运动状态下的整体动态特性与相应固定位姿时的动态特性有一定差别 ,分析了产生这些差别的原因。由此建议在机器人改进设计中应着重提高机器人关节处的刚度。更多还原

【Abstract】 The dynamic characteristics of spot welding robots SIA120 and HT120 were analyzed by the method of experimental modal analysis. The dynamic parameters of the robots in fixed postures and movement respectively were compared, the difference of the structural dynamic characteristics of the robots in movement and the stiffness were pointed out, and the reason causing the difference was put forward. It is suggested that the joint stiffness of the robots should be increased in the improvement design.更多还原