机械制造与自动化2024，Vol.53Issue(2)：182-187,6.DOI:10.19344/j.cnki.issn1671-5276.2024.02.039
基于ADAMS的六关节工业机器人模态仿真分析研究
Research on Modal Simulation Analysis of Six-axis Industrial Robot Based on ADAMS
摘要
Abstract
Based on the dynamic characteristics of industrial robot,and the six-axis industrial robot taken as the research object,the rigid-flexible coupling model is built by the finite element software NASTRAN and the multi-body dynamics software ADAMS.Joint flexibility is introduced to conduct the study on whole machine modal simulation analysis method,and the modal test is carried out by the experimental modal analysis method.By comparing the first 10 natural frequencies and modes obtained from simulation and test,the relative error of natural frequency simulation is controlled within 10％,and the modes are basically consistent,which verifies the accuracy of the whole machine modal simulation analysis method of six-axis industrial robot.The influence of joint stiffness and arm stiffness on robot mode is further analyzed and studied,providing references for the whole machine rigid flexible coupling dynamic analysis,structural dynamic characteristic analysis,structural optimization design and improvement.关键词
工业机器人/关节柔性/刚柔耦合/模态分析/ADAMS/刚性Key words
industrial robot/joint flexible/rigid flexible coupling/modal analysis/ADAMS/stiffness分类
信息技术与安全科学引用本文复制引用
孔令超,钟成堡,王长恺..基于ADAMS的六关节工业机器人模态仿真分析研究[J].机械制造与自动化,2024,53(2):182-187,6.基金项目
广东省高性能伺服系统企业重点实验室项目(2020B121202017) （2020B121202017）
