摘要
介绍多体系统的概念及其动力学特性。在时间域和频率域进行了理论分析,开发了一般多体系统动力学分析程序DAGOMS及其FTT后续处理程序PTODA。以工业机器人为典型系统进行了实验模态分析,识别了接合面物理参数。用上述程序进行计算,求得时域和频域数值解。理论分析与实验结果吻合较好。
The principle of dynamic analysis of multibody system is presented. Based on the theoretical analysis in the time and frequency domain, a general-purpose program DAGOMS and a-post data processing program PTODA were developed. Through the experimental. model analysis of industrial robot—a typical multibody system , the physical parameters of the joints were identified. With the preceding program, numerical analysis is performed in both the time and frequency domain. The analysis results are in agreement with the experimental data.
出处
《天津大学学报》
EI
CAS
CSCD
1990年第3期28-33,共6页
Journal of Tianjin University(Science and Technology)
基金
国家自然科学基金No.5860174
关键词
多体系统
工业机器人
频域分析
multibody system, industrial robot, joint physical parameter, dynamic numerical solution, frequency domain analysis
