机械手双连杆机械系统的模态分析

Q3 Engineering Diagnostyka Pub Date : 2022-08-31 DOI:10.29354/diag/152463

Yevhen Kharchenko, V. Vira, V. Palyukh, B. Vasyliv

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引用次数: 0

摘要

提出了机器人双连杆机械系统固有频率和振动形式的计算方法。将系统的连杆视为横截面参数呈阶跃变化的直杆。机械系统的运动方程是以技术弯曲理论为基础的。采用初始参数矩阵法对振动过程进行了分析。

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The modal analisis of a two-link mechanical system of a robot manipulator

The method of calculation of natural frequencies and forms of oscillations of a two-link mechanical system of a robot manipulator is proposed. Links of the system are considered as straight rods with a step change of cross-sectional parameters. The equations of motion of a mechanical system are based on the technical bending theory. The analysis of oscillation processes is carried out using the matrix method of initial parameters.

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来源期刊

Diagnostyka Engineering-Mechanical Engineering

CiteScore

2.20

自引率

0.00%

发文量

期刊介绍： Diagnostyka – is a quarterly published by the Polish Society of Technical Diagnostics (PSTD). The journal “Diagnostyka” was established by the decision of the Presidium of Main Board of the Polish Society of Technical Diagnostics on August, 21st 2000 and replaced published since 1990 reference book of the PSTD named “Diagnosta”. In the years 2000-2003 there were issued annually two numbers of the journal, since 2004 “Diagnostyka” is issued as a quarterly. Research areas covered include: -theory of the technical diagnostics, -experimental diagnostic research of processes, objects and systems, -analytical, symptom and simulation models of technical objects, -algorithms, methods and devices for diagnosing, prognosis and genesis of condition of technical objects, -methods for detection, localization and identification of damages of technical objects, -artificial intelligence in diagnostics, neural nets, fuzzy systems, genetic algorithms, expert systems, -application of technical diagnostics, -diagnostic issues in mechanical and civil engineering, -medical and biological diagnostics with signal processing application, -structural health monitoring, -machines, -noise and vibration, -analysis of technical and civil systems.