Modal Test of Welding Robot Linkage Mechanism: Modal Interval of posture in continuous dynamic state

摘要

Vibration of welding robot mechanism is an important factor affecting the welding quality. In this paper, a modal test scheme is designed depending on the characteristics of the modal change caused by the posture change during the welding robot operation. In the modal test scheme, the posture used for modal test selects from the dynamic process of continuous posture change. Then the selected posture is tested and the modal parameters are identified. On this basis, we analyze the modal frequency and modal vibration mode of the mechanism under different postures, propose the concept and method of modal interval division, obtain the modal test results of the dynamic continuous process of the welding robot linkage mechanism, and reveal the inherent dynamic characteristics of the welding robot mechanism.