The method to estimate vibration damping ratio of robot inspecting insulators based on center of mass

摘要

Vibration is a common phenomenon in nature and engineering. Damping is a physical effect to dissipate energy dissipation. The robot inspecting insulators works on chain insulation, and is affected by environment of the work and action of joint in course of the work. Vibration phenomena are occurred on the robot. The method to estimate attenuation vibration damping ratio based on center of mass can estimate the vibration damping ratio of the robot quickly. And this method can provide the basis for improving the vibrational state of the robot on the work. Physical concept is clear and simple in this method to estimate damping ratio. And this method is easy to carry out. The results of simulation and measurement show that the method is quick and effective.