193 results about "Inertial moment" patented technology

The invention belongs to the technical field of aircraft control, relates to an aircraft gravity center real-time balancing method and system based on dynamic parameter fusion, and aims to solve the problems of insufficient real-time performance, accuracy and self-adaptability of a gravity center balancing method under complex flight conditions in the prior art. The method comprises the steps that real-time parameters are obtained, and the real-time gravity center position is calculated; if the real-time gravity center position is not within the preset range, calculating a first inertia moment and a first additional moment caused by fuel density change and a second inertia moment and a second additional moment caused by aeroelastic deformation; performing inertia moment correction based on the first inertia moment and the second inertia moment; additional moment correction is carried out based on the first additional moment, the second additional moment and the real-time pitching inertia moment; when the real-time gravity center position is within the preset range, gravity center balancing is completed. The fuel oil density and aeroelastic parameters are estimated in real time through a self-adaptive control algorithm, rudder deflection and fuel oil distribution are cooperatively adjusted, and the problem of center-of-gravity shift under complex disturbance can be effectively solved.

The invention relates to the technical field of construction and the technical field of software, and discloses a fabricated structure evaluation method and device based on a toughness value and carbon emission, and the method comprises the steps: adding the damage volumes of all interfaces, and obtaining the damage amount of a fabricated structure; when the damage amount of the fabricated structure is within the damage range, a repair scheme of the fabricated structure is obtained, and the carbon emission amount of the repair scheme is generated; according to the length of each interface, the inertia moment of the complete part of each interface, the moving distance of the neutral axis of each interface and the contact surface rigidity model, the contact surface rigidity of the fabricated structure is generated, and according to the contact surface rigidity of the fabricated structure, the material elasticity modulus of the fabricated structure and the toughness model, the toughness value of the fabricated structure is generated. And performing specific value calculation on the carbon emission of the repair scheme and the toughness value of the fabricated structure to generate an evaluation value of the repair scheme. According to the invention, the evaluation efficiency of the repair scheme of the fabricated structure can be improved.

The invention discloses a steel structure beam unit section intelligent optimization method and device and a medium. Obtaining a target beam unit of which the cross-sectional area is to be calculated, and obtaining a current axial force, a current allowable stress and a plurality of working conditions corresponding to the target beam unit; obtaining an initial beam unit cross-sectional inertia moment, and respectively calculating an initial beam unit cross-sectional area, an initial X-direction cross-sectional modulus and an initial Y-direction cross-sectional modulus through a preset initial beam unit cross-sectional inertia moment function; for each working condition, calculating a beam unit cross-sectional area corresponding to each working condition through a beam unit cross-sectional area intelligent optimization calculation method; and in each beam unit cross-sectional area, selecting the maximum beam unit cross-sectional area as a target beam unit cross-sectional area corresponding to the target beam unit, and feeding back the target beam unit cross-sectional area to a user. The problems that calculation is complex, the calculated amount is large and accuracy is poor due to the fact that the cross section area of the beam unit is determined through artificial experience are solved, and the accuracy of calculating the cross section area of the beam unit is improved.

The invention discloses a method and system for determining the optimal stress orientation of a concrete special-shaped sheet column, and relates to the technical field of constructional engineering. According to the method, a correlation model of special-shaped contour parameters and load conditions is constructed, a mechanical property key direction set is extracted, the screening range is narrowed, the optimal orientation determination efficiency is greatly improved, the design period is shortened, and the optimal orientation determination efficiency is improved based on multi-dimensional screening of all-circumferential inertia moment distribution, a rigidity curve and a bending moment contribution ratio. Core indexes such as section ultimate bearing capacity and ductility are comprehensively evaluated by combining stress simulation of a concrete nonlinear constitutive relation; through overall structure collaborative checking calculation and node stress analysis, it is ensured that the orientation meets the mechanical requirements of components and adapts to lateral force resistance and stress continuity of the overall structure, in combination with building construction requirements and node compressive strength redundancy optimization, the scheme of optimal mechanics but construction conflicts is eliminated, safety redundancy is reserved, the structure anti-disaster stability is guaranteed, and the construction safety is improved. And meanwhile, the method adapts to complex working conditions and specification requirements and ensures that the scheme can be directly applied.

Disclosed are systems, apparatuses, and methods for and related to dynamic control of torque and or lateral thrust applied to a load suspended load on a suspension cable to thereby achieve a target orientation or position or to otherwise move through use of a hyperparameter, wherein the hyperparameter comprises a normalized moment of inertia, wherein the hyperparameter comprises a ratio of a force command to a thruster and an angular acceleration.

The invention relates to a self-adaptive fault-tolerant generalization control method for an autonomous underwater vehicle, which comprises the following steps of: considering primary and quadratic term damping effects of water, unknown constant matrixes of a mass matrix and an inertia matrix of the autonomous underwater vehicle and external interference factors; an actuator effectiveness index matrix is introduced to model the autonomous underwater vehicle into an under-actuated model, and meanwhile it is ensured that the resultant force of gravity and buoyancy is zero, and kinematics and dynamics equations of the autonomous underwater vehicle are obtained; a controller is designed based on a backstepping method, a position error and a saturation function are defined, a Lyapunov function is selected, the position error is driven to be within a preset fixed constant range, an estimation rule and a projection function are introduced for solving the problem of unknown parameters to calculate thrust and control input, and high-precision trajectory tracking control over the autonomous underwater vehicle is achieved. Compared with the prior art, the method does not need linearization or conversion dynamics, can solve the problems of fault tolerance and time-varying interference, is better in performance, and effectively improves the control precision and stability of the autonomous underwater vehicle.

The invention relates to the technical field of dynamic force measurement, and particularly provides an inertia force compensation method and system for a dynamic force measurement platform, and the method comprises the steps: arranging a plurality of acceleration sensors on the measurement platform, so as to collect the acceleration information of the platform in the dynamic motion in real time; by combining the mass of the dynamic force measurement platform and the inertia moment data of the dynamic force measurement platform, the error of the platform caused by inertia is calculated and compensated, so that the precision of dynamic force measurement is improved. The method provided by the invention is particularly suitable for small-amplitude disturbance force and micro-vibration measurement scenes, and the interference of the inertia force of the platform on the measurement result can be remarkably reduced.

The invention discloses a damage quantitative evaluation method based on an intelligent agent model and knocking scanning, and aims to realize accurate recognition and quantitative evaluation of beam structure damage through the agent model. The evaluation method comprises the following steps: firstly, according to a theoretical relational expression of a beam structure, selecting a cross-sectional inertia moment, a structure length, a damage position and a detection vehicle equivalent acceleration as input random variables, and taking a bending stiffness ratio of a damage position as a damage quantitative index, constructing and optimizing an agent model; establishing a nonlinear mapping relation between input and output; secondly, applying excitation by utilizing an intelligent knocking scanning detection vehicle, acquiring an acceleration signal, processing the signal by adopting a time-frequency analysis technology, and extracting feature information related to structural damage; and finally, predicting a damage quantitative index according to the agent model in combination with the identified damage position and feature data, and verifying and outputting a result.

The invention discloses a reduced scale model pile body test structure which comprises a test box, a model pile and a laser scanner, a test soil body is laid in the test box, the model pile is vertically inserted into the test soil body, a reaction wall is installed on one side of the test box, a jack is installed on the reaction wall, and a thrust plate is installed at the front end of the jack; a target is installed on the model pile, and the laser scanner is located above one side of the target. According to the hollow nylon pipe model pile, it is guaranteed that lateral mechanical behaviors are similar, and the material cost and the machining difficulty are greatly reduced; the nylon pipe can also be used as an inclinometer pipe, so that the sensor is convenient to arrange; meanwhile, a grooving pipe inertia moment correction formula is introduced to accurately calculate the actual inertia moment of the grooved pipe, and similar errors are reduced; meanwhile, a strain gauge and a target are matched to comprehensively monitor the model pile from internal deformation, surface strain to top displacement; the surface of the model pile is roughened, so that the surface roughness of the model pile is equivalent to that of a concrete pile, slurry is injected into a pile-soil gap, and the simulation authenticity of the interface friction characteristic is improved.

The invention discloses a load estimation method and an applicable mechanical arm system and electronic device thereof, which are used for calculating a plurality of inertial parameters of a load. The estimation method includes calculating a load mass; only the fourth joint at the tail end is rotated to calculate the load mass and the equivalent inertia moment; only rotating the second joint to measure the power data of the fourth joint, and repeating the step at least twice to obtain at least two groups of power data so as to calculate the mass center position of the load; and substituting the mass, the equivalent inertia moment and the mass center position into a parallel axis theorem calculation formula to obtain the mass center inertia moment of the load. According to the estimation method, the position of the center of mass is solved for the dynamic equation of the fourth joint, so that the calculation complexity of inertial parameters is simplified.

The invention provides an intelligent calibration method based on steel structure assembly precision, and relates to the technical field of intelligent calibration, and the method comprises the steps: collecting spatial position data of a joint of an I-shaped steel beam flange and an H-shaped steel column flange, converting the spatial position data into a verticality deviation value, and obtaining stress distribution data of a beam column connection node; calculating the deformation compensation amount of the I-shaped steel beam flange based on the perpendicularity deviation value and the stress distribution data, and calculating a calibration force distribution curve according to the change rule of the inertia moment of the section of the I-shaped steel beam flange; and the welding sequence and the welding bead spacing are optimized based on the calibration force distribution curve, and welding parameters are controlled through the thermal field distribution gradient, so that the perpendicularity deviation between the flange of the I-shaped steel beam and the flange of the H-shaped steel column is controlled. In this way, the problem that the assembly precision is insufficient due to the fact that perpendicularity deviation is difficult to calculate accurately and welding heat input distribution is uneven can be solved, the steel structure assembly precision and efficiency are improved, and the structural stability is enhanced.

The invention provides a self-adaptive carrying and dense parking planning method, system and device and a medium, and belongs to the technical field of intelligent logistics control. The method comprises the steps of detecting a vehicle contour in real time, and obtaining a vehicle width value and an attitude angle; based on the clamping jaw material section inertia moment and the moment safety threshold value, the safety distance is calculated; a quaternion PID controller is used for synchronously adjusting the rotating speed of a steering motor and the stroke of a hydraulic cylinder, and the minimum safety distance is calculated; a parking path is generated by adopting an improved path planning algorithm, and multipath interference is eliminated through waveform matching; and storing the parking space state based on the block chain technology, verifying whether the vehicle is parked in the preset parking space after parking is completed, and updating the global map through the smart contract after verification is passed. Through the modes of dynamic perception, adaptive control, multi-target optimization and credible interaction, the operation precision and stability of the AGV in a carrying scene are realized.

Provided is a control device and program capable of easily outputting the state of mechanical loss in an induction motor. A control device that controls an industrial machine having an induction motor includes: a power cutoff section that cuts off power supply to the induction motor; a speed acquisition section that acquires the rotational speed of the induction motor; an acceleration calculation section that calculates acceleration based on the acquired rotational speed; a moment of inertia acquisition section that acquires the moment of inertia of the main shaft of the induction motor; a mechanical loss calculation section that calculates the mechanical loss of the induction motor based on the acquired rotational speed, the calculated acceleration, and the acquired moment of inertia; and an output section that outputs the calculated mechanical loss.

The present invention relates to the technical field of aircraft mass characteristic measurement, and discloses a simple aircraft mass characteristic measurement device and measurement method. The measurement device includes a horizontally arranged measurement platform, on which two support mechanisms are installed. The support mechanisms include a base and two hydraulic telescopic rods vertically fixed to the base. A horizontally arranged crossbeam is installed on the top of the two hydraulic telescopic rods. The outer wall of the crossbeam is provided with a plurality of sleeves. A universal joint is fixed to the bottom of the outer wall of the sleeve, and a suspension rope is provided on the universal joint. The present invention suspends the aircraft above the measurement platform, and uses the equilibrium equation of the moment taken at the suspension point to calculate the position of the center of mass relative to the suspension point, thereby determining the position of the center of mass of the aircraft; then, the moment of inertia of the aircraft is measured using the double cycloid method. The operation is simple, the method is reliable, and it can be widely used to measure the mass characteristics of aircraft.

The invention relates to the technical field of steel structure construction, and provides a longitudinal and transverse sliding treatment method and device for a large-span steel structure in a limited space. The method comprises the following steps: obtaining structural rigidity distribution of the large-span steel structure according to elastic modulus, section inertia moment and span of each section of the large-span steel structure so as to obtain a sliding unit block optimization model of the large-span steel structure; according to the sliding unit block optimization model of the large-span steel structure, initial division of the large-span steel structure is carried out, and initial blocks are obtained; the node rigidity difference between the initial blocks is smaller than or equal to a set difference value, and the sliding path of each initial block avoids a space obstacle; according to the ratio of the local rigidity to the overall rigidity of the large-span steel structure, the initial blocks are optimized, and a plurality of sliding units are obtained; and according to the multiple sliding units, a longitudinal and transverse sliding scheme of the large-span steel structure in the limited space is obtained. By adopting the method, the local stress overrun risk of the large-span steel structure can be reduced.

The application discloses a kind of acceleration load calculation formula correction method for pipeline stress analysis, comprising the following steps: 1) based on potential flow theory, diffraction theory, establish ship motion equation;2) in AQWA software, the ship length, type width, type depth, design draft, displacement, inertia moment of general FPSO are input, time domain analysis is carried out, and its hydrodynamic coefficient is obtained, then acceleration load extreme value is predicted using SESAM software;3) according to the ship length, type width, type depth of general FPSO, design draft, structural draft, displacement under different working conditions, the acceleration of each degree of freedom is calculated according to ship motion acceleration load calculation formula;4) error analysis is carried out to the acceleration value calculated in steps 2), 3), and the acceleration formula calculation value needs to be corrected if the error is greater than d;5) introduce correction coefficient f, and the acceleration calculation value with error greater than d is corrected until the error is less than d;6) the corrected acceleration can be applied on the pipeline as acceleration load.

A terminal device 16: acquires, by a set parameter acquisition unit 1611 and as the value of a set parameter, a set value of a rotation speed of a propeller shaft 12 of a ship which is sailing a real sea area; and acquires, by a realized parameter acquisition unit 1612 and as the values of realized parameters, the values of a wave direction, a wave period, a wave height, a tidal direction, a tidal speed, a wind direction, a wind speed, draft, and a travelling direction of the ship which is sailing the real sea area. The terminal device 16 identifies, by a moment-of-inertia identification unit 1616 and through using a machine learning model L, the value of an inertia parameter of a flywheel according to the combination of the acquired values of the parameters. The value of the inertia parameter is for reducing the energy consumption rate of the ship. The terminal device 16 outputs, to a flywheel system comprising a function for changing the moment of inertia of the flywheel, moment-of-inertia data indicating the value of the moment-of-inertia identified by the moment of inertia identification unit 1616.

The invention relates to hanging basket equipment for a continuous beam and a hanging mechanism and a construction method of the hanging basket equipment. The suspender adopts I-shaped section steel composed of two opposite wing plates and a middle web plate, the web plate transmits axial tension, the wing plates increase the inertia moment of a transverse stress section, the wing plates and the web plate form a collaborative stress system, and lateral bending deformation in the thickness direction is effectively restrained. The cross section of a locking hole of the locking mounting base is of a big-end-up conical structure, the two locking inclined blocks are attached to the inner wall of the locking hole and the two sides of a suspender web correspondingly, and the self-locking effect that the larger the load is, the higher the extrusion force is is is formed. Meanwhile, the limiting protrusion abuts against the locking inclined block, the contact area is increased to share part of vertical loads, and meanwhile the locking inclined block and the hanging rod are limited to move in the locking state. The limiting protrusions are arranged at intervals in the length direction of the hanging rod, a plurality of adjusting gears are formed, the vertical height of the bottom basket mechanism can be adjusted, and the pouring height requirements of different cantilever beam sections are met.

An electronic device casing includes a first plate and two second plates. The first plate includes at least one embossing structure. Times of an average moment of inertia of cross sections of the first plate in a first direction are not smaller than 1.14. The two second plates are connected to the first plate and form an accommodation space with the first plate.

A transducer system having a transducer structure having a plurality of surfaces to be measured and at least one coupling member for removably coupling an object to the transducer structure. A transducer is coupled to the transducer structure and has at least one strain sensor coupled to the plurality of surfaces to be measured for measuring deformations of the transducer structure in a plurality of directions. The system has a dynamic measurement unit for measuring at least one acceleration of the object and at least one controller. The controller is configured to receive deformation measurements in the plurality of directions; receiving an acceleration measurement; and determining at least one of a mass, a moment of inertia, and a center of gravity of the object based on the deformation and acceleration measurements when the object is removably coupled to the coupling member.

The invention discloses a loropetalum chinense comb cradle driving device, and particularly relates to the field of warp knitting machines. The invention provides a loropetalum chinense comb cradle driving device which comprises a cradle body, a line shaft, a quick release mechanism, a balancing weight, an adjusting mechanism, a connecting rod and a power source, the cradle body comprises a cradle part and a swing arm part, one end of the swing arm part is detachably connected with the cradle part, a mounting hole is formed between the swing arm part and the cradle part, the line shaft is arranged in the mounting hole, and the quick release mechanism is arranged on the line shaft. The quick dismounting mechanism is arranged between the swing arm part and the cradle part and used for quickly dismounting the cradle body from a line shaft, the balancing weight is arranged on the swing arm part, the adjusting mechanism is arranged between the balancing weight and the swing arm part and used for adjusting the position of the balancing weight so as to change the inertia moment of the swing arm part, one end of the connecting rod is rotatably arranged at one end of the swing arm part, and the other end of the connecting rod is rotatably arranged at the other end of the swing arm part. The power source is connected with the other end of the connecting rod and used for driving the connecting rod to drive the cradle body to reciprocate.

The invention relates to a fork lever for a telescopic fork, comprising a tubular base body extending along a longitudinal axis, the base body having an upper bearing region and a lower bearing region, and the base body being designed such that the upper bearing region and the lower bearing region are spaced apart from each other. According to the invention, the surface moment of inertia of the base body in the direction of travel differs at least in some regions from the surface moment of inertia of the base body transversely to the direction of travel, each of the surface moments of inertia has its minimum in the middle region of the fork lever, and the base body has at least one weakening region for adjusting the surface moment of inertia, the wall thickness of the base body is reduced in the weakened region.

The present invention discloses a bracket design method for supporting and isolating a tunnel axial flow fan, comprising: (a) using a double I-beam cantilever beam as a support structure installed on the tunnel side wall to support the tunnel axial flow fan; (b) obtaining parameters related to the axial flow fan, including mass, speed, installation position, and vibration isolation efficiency; (c) ignoring the deadweight of the cantilever beam, and calculating the moment of inertia I of the cross section of the cantilever beam according to the parameters in step (2) z (d) Based on the vibration isolation efficiency and the moment of inertia of the cantilever beam cross section I z , using the I-beam model table to determine the I-beam model; and (e) analyzing the maximum normal stress and maximum shear stress of the double I-beam cantilever beam, and comparing the maximum normal stress with the tensile proportional limit and yield limit of the cantilever beam material to ensure that the maximum normal stress does not exceed the tensile proportional limit and yield limit of the cantilever beam material.

This invention discloses a method for strength calculation of a detachable support device. The method includes: obtaining the supporting force and radial force per unit length of the detachable support device; calculating the bending moment and horizontal tensile force at the connecting section based on the supporting force and the radial force per unit length; establishing the static moment equilibrium equation of the connecting section and determining the neutral axis position of the connecting section through iterative calculation; calculating the moment of inertia of the connecting section based on the neutral axis position; and calculating the maximum tensile stress borne by the fastener based on the moment of inertia, the bending moment, and the horizontal tensile force, so as to perform strength verification of the connecting section. This invention derives the strength verification formula and judgment criteria for key stress sections in detachable support structures, which is convenient for engineering technicians and ensures operational safety.

The invention discloses a CAE simulation analysis method for building indoor optimization, relates to the technical field of CAE simulation, solves the problems of insufficient comprehensiveness and low accuracy of an original simulation analysis process, and provides a CAE simulation analysis method for building indoor optimization through intelligent calibration with the same classification bearing point generated by a building model. Contact points of bearing parts are classified according to stress characteristics, systematic management of bearing points of a complex building structure is achieved, stress analysis efficiency and pertinence are remarkably improved, and complexity of traditional single-point analysis is avoided; in a stress calculation link, a comprehensive stress model is constructed by combining parameters such as sectional area and inertia moment, variances of multiple groups of stress data are synchronously verified, the collaborative analysis precision of axial stress and bending stress is ensured, the stability of the bearing section is quantitatively evaluated through the data dispersion degree, risk points with uneven stress distribution are effectively identified, and the reliability of the bearing section is improved. And a quantitative basis is provided for structural safety.

An elongate wrench for rotating a threaded fastener. The wrench has a connected to a chain which, in turn, is connected to a drive shaft which receives a socket for engaging various threaded fasteners. The chain has alternating pins and links. The chain has an aspect ratio, defined as the ratio of the width across the rollers to the height of a link plate which is greater than 1. This aspect ratio advantageously provides high polar moment of inertia for torque and a narrow thickness for fitting into confined spaces. The chain articulates about as many pins as necessary to reach into the confined space.

The present invention provides a shot peening forming speed design method and device for a continuously variable thickness and variable curvature skin. The method obtains the chord-wise section inertia moment and span-wise section inertia moment, and chord-wise curvature radius of each micro-region; calculates the target curvature radius of a target test area to obtain a chord-wise reference shot peening speed and a span-wise reference shot peening speed; for each micro-region, the chord-wise shot peening forming speed is determined based on the span-wise section inertia moment and chord-wise curvature radius of the micro-region, the span-wise section inertia moment and chord-wise curvature radius of the target test area, and the chord-wise reference shot peening speed; the span-wise shot peening forming speed is determined based on the chord-wise section inertia moment and chord-wise curvature radius of the micro-region, the chord-wise section inertia moment and chord-wise curvature radius of the target test area, and the span-wise reference shot peening speed; finally, the shot peening forming speed of each micro-region is obtained; and by infinitely subdividing the micro-regions, the precise speed of shot peening on a variable thickness and variable curvature part is calculated, thereby infinitely approximating the theoretical curvature shape of the skin.

The vapor chamber (1) has a flat-plate-shaped housing (50) in which an internal space (20) is formed, and the housing (50) has formed therein: a heat-receiving section (3) that receives heat from a heat source body (2), a vapor flow path (5) through which a refrigerant (CO) vaporized in the heat-receiving section (3) moves, and a capillary flow path (4) through which the refrigerant (CO) liquefied by heat dissipation is conveyed to the heat-receiving section (3) by means of a capillary force. A plurality of spacers (42) for reinforcing the housing (50) are arranged in the internal space (20) along the surface direction of the housing (50). When [delta] c [mm] is the allowable amount of bending deformation of the housing (50), E [N / mm2] is the longitudinal elastic coefficient of the housing (50), I [mm2] is the moment of inertia of the cross section of the housing (50), and w [N / mm] is the uniform load applied to the housing (50) per unit length due to the internal pressure or external pressure generated in the internal space (20), [delta] c [mm] is the allowable amount of bending deformation of the housing (50), E [N / mm2] is the longitudinal elastic coefficient of the housing (50), I [mm2] is the moment of inertia of the cross section of the housing (50), and w [N / mm] is the uniform load. The distance (Lsp [mm]) between the spacers (42) and the joining protrusions (17) that are adjacent to each other is defined so as to satisfy the following formula.

The invention discloses a multi-disc-shaft hollow auxetic deceleration system. The invention relates to the technical field of speed reducers. The machine shell 1 serves as a basic supporting structure and is internally provided with the gear set 2 through a bearing assembly. Gears in the gear set 2 are connected through splines to realize radial positioning and torque transmission with the transmission shaft assembly 3, and the transmission shaft assembly 3 adopts a split type design; the root area of the fixing body 3021 and the abutting body 3022 are integrally formed through precision casting, a continuous metal base body is formed, and the rigidity gradient distribution of the continuous metal base body follows the principle of rigidity gradual change buffering. The radial gradient cell element array design of the topological auxetic body 304 is combined, the anti-bending section coefficient is improved by optimizing the polar inertia moment distribution, meanwhile, the reverse taper angle geometric constraint of the anti-shearing body 3042 forms a wedge-shaped stress flow channel, the shearing stress is evenly diffused along the bevel angle face, and the stress gradient is reduced.

The invention relates to the technical field of industrial robot load identification, in particular to a six-degree-of-freedom robot end load parameter identification method, which comprises the following steps: establishing a six-degree-of-freedom series robot dynamical model, reconstructing a load minimum parameter set, and determining that identification can be completed only by exciting a third joint, a fifth joint and a sixth joint. Designing four groups of symmetric excitation trajectories combined by Fourier series and quintic polynomials, and performing discrete sampling to generate an observation matrix; optimizing a load parameter set and a regression matrix, and reducing the condition number of an observation matrix; a load minimum parameter set is obtained through difference calculation of the no-load identification result and the on-load identification result; and based on the parameter set, solving the mass, the mass center coordinate, the inertia moment and the inertia product of the load. The method solves the ill-conditioned problem of a regression matrix by reconstructing the minimum parameter set, reduces the number of excitation joints, does not need to depend on a robot body kinetic model, and has the advantages of high identification precision, high stability, low experiment complexity and high efficiency.