六自由度机器人模态分析

In order to realize good dynamic properties of Six Degrees of Freedom robot, a finite element model was established using finite element software and a typical pose was selected for modal experiment. In the experimental process, responses of multipoint pulsed excitation were recorded and analyzed using finite element method and vibration theory. Then, a modal analysis was conducted for the integral structure. Change laws of inherent frequency of robot under a typical pose were figured out and weaknesses of the integral structure were analyzed through calculating and analyzing inherent frequency and vibration mode of two schemes. Finally, an improvement method for dynamic properties and an improvement plan for structural design of robot were proposed.