Gough-Stewart并联机构谐振频率特性试验研究

摘要

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.%　　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。