Research On Dynamic Characteristics Of Gantry Welding Robot

The gantry welding robot produced by a company has large vibration during startup and shutdown,and its attenuation is slow,which can not meet the working requirements.Taking it as the research object,test and simulation analysis are carried out to find the causes of vibration and structural weaknesses,improve its dynamic characteristics,and finally control the vibration amplitude and attenuation time within the range.The main contents are as follows:Laser interferometer is used to test the vibration of gantry welding robot,detect the vibration of gantry,cross beam,vertical cross beam and mechanical arm,analyze the vibration curve,find out the reasons for large vibration and slow attenuation,and find out the weak links of the structure for structural optimization.Guide rail is the main component of gantry welding robot.Its structure is complex.In robot simulation,the amount of calculation is too large.It is necessary to construct the virtual material equivalent model of guide rail based on fractal theory and Hertz contact theory.The deviation of the first 6 natural frequencies obtained from the modal analysis and modal test of the virtual material model of the guide rail is less than 15%,which shows that it can be applied to the actual simulation.According to the gantry welding robot model,the static analysis is carried out to find the position with weak stiffness.The first six natural frequencies are obtained by modal analysis according to its model.The transient dynamics of gantry welding robot is analyzed,the start and stop impact excitation is applied to the gantry welding robot,its displacement time curve is obtained,and its vibration is analyzed.Based on the test and simulation results,four optimization schemes are proposed.According to the reduction ratio of static deformation and vibration amplitude,the optimal scheme is selected as the final scheme.Through the improvement of this scheme,the gantry welding robot has been successfully applied in an enterprise in Shanghai.Figure Seventy-six;Table Fifteen;reference Fifty-two...