Method for acquiring frequency response function of robot

• Main Authors: LIU HONGQI, MAO XINYONG, GUO QIUSHUANG, PENG FANGYU, LUO WENLONG, TANG XIAOWEI
• Format: Patent
• Language: Chinese; English
• Published: 26.07.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention belongs to the technical field related to kinetic analysis of mechanical assembly structures, and discloses a robot frequency response function acquisition method which comprises the following steps: (1) dividing a mechanical arm of a robot into a moving mechanical arm and a static mechanical arm by taking a joint of the robot as an intercept point; (2) self-excitation is conducted on the robot, so that modal parameters of the structural state of the robot when the moving mechanical arm is located at the first rotating angle and the second rotating angle are obtained; the first corner is the angle of any joint when the robot is in any posture; the inherent frequency of the robot at the second turning angle is changed relative to the inherent frequency at the first turning angle, and the change of the overall vibration mode is within 10% relative to the change at the first turning angle; and (3) calculating a modal calibration factor based on the obtained modal parameters, and obtaining a frequen