Modal Analysis And Vibration Optimal Control Of Actuator Of Controllable Mechanism Welding Robot

Welding robot is widely used in the fields of ship,vehicle,Aerospace and electrical and electronic.Especially with the development of design technology,manufacturing technology,computer and control technology,welding robot technology and welding technology are becoming ever more mature,and its application in manufacturing field is more and more extensive.The widespread application of welding robot in industry is of great theoretical and practical significance to ensure the welding quality and consistency of the products and to improve the welding efficiency.Controllable mechanism welding robot adopts series-parallel hybrid structure,which overcomes the drawbacks of traditional series welding robot,such as cumulative error magnifying step and weak load capacity caused by all joints concentrating on a motion chain.It is an important development direction of current welding robot.In this paper,the vibration characteristics and optimal control of the controllable mechanism welding robot developed in the laboratory are studied from the dynamic point of view.Different from the kinematics and dynamics analysis of the traditional welding robot,the vibration modal test,dynamic modeling and characteristic analysis of the controllable mechanism welding robot mechanism and the viibration optimization of the end of the actuator are discussed in this paper.In-depth and systematic research on chemical control has been carried out,The main work and achievements of this paper are as follows:Aiming at the characteristics of the mode change caused by the attitude change of the controllable mechanism welding robot during its working pocess,a modal test scheme is designed.The vibration test and modal parameter identification of the welding robot are carried out under different mechanism postures.The modal frequency and mode shape law of the mechanism under different postures are analyzed,and the concept and method of modal interval division are put forward.The modal test results of the dynamic continuous process of the linkage mechanism of the controllable mechanism welding robot are obtained,and the inherent dynamic characteristics of the actuator of the controllable mechanism welding robot are revealed.According to the configuration characteristics of the actuator of the controllable mechanism welding robot,the simplified scheme of the model is discussed,and the finite element model of the linkage mechanism is established.The modal frequencies and modes of the actuator are obtained by simulation calculation and analysis,and compared with the experimental results to verify the correctness of the simulation model.Based on the dynamics model of the linkage mechanism of the controllable mechanism welding robot,the vibration response characteristics of the actuator are analyzed.The relationship between the position of the excitation source,the characteristics of the excitation force and the vibration of the end of the actuator is revealed.The influence of the stiffness and the damping of the rod on the vibration characteristics of the end of the actuator is explored,which provides a basis for the vibration control and optimization of the controllable mechanism welding robot.Aiming at the vibration control of the actuator of the controllable mechanism welding robot,the response surface method was applied to optimize the vibration response of the actuator end from three aspects:excitation source,stiffness and damping of the rod.On this basis,considering the coupling effect of excitation source,stiffness and damping of the rod,the optimal control results of the end of the actuator are obtained.This resrarch will provide an important technical basis for the dynamic design and vibration optimization control of the controllable mechanism welding robot mechanism.