CAJ | 학술논문

对具有不同结构参数的Gough-Stewart并联机器人机构进行典型位姿下的脉冲激励试验,研究系统谐振频率随结构参数和位姿的变化规律.首先,按照一定的结构参数装配机构,在上平台的结构特征点布设加速度计.然后,在典型位姿进行脉冲激励,记录特征点空间三个自由度方向上的加速度响应,利用分析软件求解频率响应函数曲线,并进行谐振频率辨识,分析谐振频率随位姿的变化情况.最后,改变结构参数重新装配机构,重复试验过程,分析谐振频率随结构参数的变化情况.研究结果可作为机器人动态优化设计与控制器设计的参考.
대구유불동결구삼수적Gough-Stewart병련궤기인궤구진행전형위자하적맥충격려시험,연구계통해진빈솔수결구삼수화위자적변화규률.수선,안조일정적결구삼수장배궤구,재상평태적결구특정점포설가속도계.연후,재전형위자진행맥충격려,기록특정점공간삼개자유도방향상적가속도향응,이용분석연건구해빈솔향응함수곡선,병진행해진빈솔변식,분석해진빈솔수위자적변화정황.최후,개변결구삼수중신장배궤구,중복시험과정,분석해진빈솔수결구삼수적변화정황.연구결과가작위궤기인동태우화설계여공제기설계적삼고.
Impulse excitation experiments of Gough-Stewart manipulator with different structural parameters were conducted for its typical configurations, and the frequency variation with these parameters and configurations was studied. Firstly, the mechanism was assembled according to certain structural parameters, and accelerometers were laid out on the moving platform at the key points. Then, pulse excitation was executed at the typical configurations, and the spatial acceleration responses were recorded. The frequency response function curves were obtained and the resonant frequencies were identified using analysis software. The resonant frequency variation with different configurations of the mechanism was analyzed. Finally, changing the structure parameters, the mechanism was reassembled and the experiment process was repeated. The resonant frequency variation with the structure parameters was re-analyzed. The analysis results can be used for robot dynamic optimization and controlor design.