Analysis and Test of Transient Vibration Characteristics of Clamping Mechanism of Pipe Truss Weld Inspection Robot
To ensure the stability of the robot's inspection by the tube truss at the moment of clamping.It makes a research on the vibration traits while the robot is clamping through three steps.The first is to simulate the clamping moment of the robot,analyze the response to the clamping mechanism at the clamping moment,and study the sensitivity of the clamping mechanism to the model parameters.The second is to improve the clamping mechanism,increase the spring stiffness,add the dynamic absorber,es-tablish the improved clamping mechanism,and carry out simulation analysis in MatLab.The third is to carry out vibration test of clamping mechanism,measure the vibration of original and improved mechanism,and compare the vibration test results of spring support with simulation results.The results indicate that spring stiffness has the greatest influence on spring compression while spring damping imposes the greatest influence on time adjustment.After the improvement of the mechanism,the adjustment time is shortened,the spring compression ratio is significantly reduced,and the stability has been proved to be better than that of the original mechanism;The error of transient performance index between the test results and the simulation results is less than 5%,so the test results are consistent with the simulation results.
NETL
NSTL
万方数据
维普
