Research on Joint Vibration Solution of Industrial Robot for Current Information and Modal Analysis
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.
industrial robotjoint currentfinite element methodjoint vibrationmodal analysis
国家科技期刊平台
NSTL
万方数据
维普
