Modal analysis simulation and experimental research of an industrial robot

GUAN Lianzhe; ZHANG Zhenshan; CUI Guohua; PAN Ying

doi:10.12299/jsues.21-0179

Volume 35 Issue 1

Sep. 2022

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GUAN Lianzhe, ZHANG Zhenshan, CUI Guohua, PAN Ying. Modal analysis simulation and experimental research of an industrial robot[J]. Journal of Shanghai University of Engineering Science, 2022, 36(1): 1-8. doi: 10.12299/jsues.21-0179

Citation:

GUAN Lianzhe, ZHANG Zhenshan, CUI Guohua, PAN Ying. Modal analysis simulation and experimental research of an industrial robot[J]. Journal of Shanghai University of Engineering Science, 2022, 36(1): 1-8. doi: 10.12299/jsues.21-0179

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Modal analysis simulation and experimental research of an industrial robot

doi: 10.12299/jsues.21-0179

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2021-09-02
Publish Date: 2022-09-26

Abstract

Abstract

Based on modal theory, modal analysis of an industrial robot was carried out by simulation and experimental methods. Firstly, a three-dimensional model of the robot was established in a typical posture, ANSYS Workbench software and ADAMS software were used to analyze the theoretical mode of the robot, dynamic characteristics such as natural frequency and mode shape were obtained, and the weak vibration part was determined. Secondly, the hammer method was used to carry out the modal analysis of the robot experiment and the vibration test of the robot was used to verify the correctness of the simulation results. Finally, the optimization solution was proposed for parts with severe vibration. The analysis results show that the robot joint 2 and joint 3 are prone to low-frequency vibration, and the rigidity of the small robot arm is relatively weak compared with other parts. The results can provide theoretical and experimental references for robot optimal design and work performance improvement.
- robot,
- modal simulation,
- experimental model,
- dynamic characteristics

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References(16)

References

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