Research on Robot Dynamic Characteristics with a Method of Experimental Modal Analysis

摘要

Aim In order to optimize structure and controller of robot, dynamic characteristics of a spot welding robot is analyzed with a method of experimental modal analysis. Methods Law of variations of modal parameters of the robot at different structural configurations as well as its lower orders of natural frequencies under two typical structural configurations is found out. Results Relatively weaker areas in the strength of the robot frame are carried out. Conclusions It is pointed out that the distribution of the mass and stiffness of the robot should be reasonable, and an optimized design method is demonstrated.