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Wednesday, July 10 • 17:30 - 17:50
EXPERIMENTAL MODAL MEASUREMENT AND DYNAMICS ANALYSIS OF A 6-DOFS SERIES ROBOT

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In the process of motion, the posture and speed of a six-degree-of-freedom series industrial robot are con-stantly changing. Therefore, it is a time-varying, broadband, strong non-linear, multi-degree-of-freedom system, then it is extremely difficult to model them accurately. The structural dynamics modals obtained after various simplified treatments are also difficult to meet the needs of high-precision robot dynamic analysis and controllers. The modal analysis based on the experimental test can obtain the parameters that accurately reflect the dynamic characteristics of the actual robot. This provides an important technical ap-proach for understanding the dynamic performance of the robot, parameter identification and the design of the robot control system. Firstly, the vibration amplitudes of the robot under different working condi-tions such as multi-posture, multi-speed and multi-position are measured, and the typical postures and po-sitions of the robot are determined according to the tested amplitudes. Three-dimensional modal experi-ments were carried out by hammering method to obtain the natural frequencies and modal shapes of the six-degree-of-freedom industrial robot. The effects of different posture and power-on/off state of the robot on dynamic characteristics were studied in order to find out the shortcomings of products, and to find out the causes of excessive vibration and to carry out optimum design of the robot structures.

Moderators
MJ

Miroslav Janota

Ph.D., Czech Technical University in Prague
avatar for Vadym Kruts

Vadym Kruts

Senior researcher, G.S. Pisarenko Institute for Problems of Strength of the National Academy of Sciences of Ukraine

Authors

Wednesday July 10, 2019 17:30 - 17:50 EDT
St-Laurent 4
  T07 Struct. dyn. & nonlin. vib., RS01 Modal analysis

Attendees (5)