Resonance mechanism analysis method and system for joint servo transmission system of industrial robot

Abstract

The invention provides a resonance mechanism analysis method and system for a joint servo transmission system of an industrial robot, and relates to the technical field of robot vibration analysis. The method comprises the following steps: identifying a key frequency point; based on the key frequency point, the inherent frequency and the modal shape of the joint servo transmission system in each resonance modal are determined, the rigidity and the damping coefficient of the joint servo transmission system are calculated based on the inherent frequency and the modal shape, and the influence degrees of the rigidity and the damping coefficient of the joint servo transmission system on the key frequency point are analyzed; according to the influence degree analysis result, combining with the personalized demand information, optimizing the association relationship graph to obtain an optimized association relationship graph; and determining a resonance area of the joint servo transmission system according to the optimized incidence relation map, and adding a corresponding prestress loading scheme in a configuration file of the joint servo transmission system for the resonance area. According to the technical scheme provided by the invention, the analysis accuracy is improved.

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