Modal parameter and vibration response calculation method for rotating joint type industrial robot

Abstract

The invention discloses a modal parameter and vibration response calculation method for a rotating joint type industrial robot, and particularly relates to vibration characteristic analysis and calculation of the rotating joint type industrial robot. The method mainly comprises the steps of breaking the overall structure of the industrial robot into parts, and splitting the parts into a pluralityof elements with the transmission relation; establishing a transfer matrix and a transfer equation of each element; forming a system total transfer matrix and a transfer equation according to the element transfer chain; determining system boundary conditions according to the state vectors of the head and tail elements; solving the system characteristic equation to obtain the inherent frequency andthe inherent vibration mode of each order of the industrial robot; and solving the vibration response of the robot by utilizing the orthogonality and modal superposition principle of the augmented feature vector. According to the robot dynamics modeling and vibration analysis method, a system overall dynamics equation is not needed, the stylized modeling degree is high, the system matrix order islow, the calculation speed is high, and vibration characteristics and responses of the industrial robot can be accurately described and quickly calculated.

Description

technical field [0001] The invention belongs to the technical field of industrial robot dynamics analysis, and in particular relates to a method for calculating modal parameters and vibration response of a rotary joint type industrial robot. Background technique [0002] As an important tool and equipment for production and processing, industrial robots are closely related to their dynamic characteristics. From design and production to use, it is very important to analyze the dynamic characteristics of industrial robots. Especially in recent years, as robotic processing systems are increasingly used in high-end aerospace manufacturing, especially when processing difficult-to-machine materials such as titanium alloys, nickel-based alloys, and composite materials, robotic processing systems are prone to chatter. Vibration, affecting the quality of manufacturing and processing, and even lead to product damage in severe cases, resulting in irreparable losses. Therefore, it is n...

AI Technical Summary

Problems solved by technology

This method relies on simulation software for analysis and optimization, which requires constant modification and adjustment of the structure. The design optimization cycle is long, and the finite element analysis relies on the algorithm that comes with the software, which cannot be improved and calculated according to actual needs.

In order to realize the vibration suppression of the robot, the invention patent "a space flexible manipulator vibration suppression algorithm, CN201610549912.3" establishes the dynamic model of the manipulator system in the generalized coordinate system, decomposes the dynamic variables and designs the flexible vibration control In order to achieve vibration suppression, this method needs to establish the overall dynamics model of the manipulator, the modeling method is complex, and the calculation speed is slow

To sum up, the existing analysis of vibration characteristics of industrial robots has shortcomings such as structural optimization relying on simulation analysis, complex dynamic equations, and slow vibration response calculation speed.

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