CN109186905A - A kind of modal test device and test method for wire saws parallel robot - Google Patents
A kind of modal test device and test method for wire saws parallel robot Download PDFInfo
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- CN109186905A CN109186905A CN201810856064.XA CN201810856064A CN109186905A CN 109186905 A CN109186905 A CN 109186905A CN 201810856064 A CN201810856064 A CN 201810856064A CN 109186905 A CN109186905 A CN 109186905A
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- wire saws
- parallel robot
- saws parallel
- moving platform
- modal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/025—Measuring arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/06—Multidirectional test stands
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- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
A kind of modal test device and test method for wire saws parallel robot.It is characterized in that being equipped with traction rope, moving platform, power hammer, acceleration transducer, data collecting card and personal computer.It hammers the moving platform for tapping the support of wire saws parallel robot into shape using power, vibrational excitation is applied to it, vibrates wire saws parallel robot on a certain single-degree-of-freedom direction；Acceleration signal is received by the acceleration transducer being mounted on wire saws parallel robot, obtains the vibratory response of wire saws parallel robot；Data collecting card acquires acceleration signal, and input personal computer carries out data processing and obtains the corresponding intrinsic frequency of complete six ranks rigid body mode of wire saws parallel robot using Fast Fourier Transform (FFT) (FFT).Structure of the invention device is simple, operation is simple, versatile, the test period is short, experimentation cost is low.
Description
Technical field
The present invention relates to the test of Vibration of wire saws parallel robot, specifically a kind of to use hammer stimulating method
The experimental rig and test method for measuring the corresponding intrinsic frequency of complete six ranks rigid body mode of wire saws parallel robot, to grind
Study carefully the vibration characteristics of wire saws parallel robot, and guidance and verifying can be provided for the Numerical Simulation Analysis of said mechanism.
Background technique
Wire saws parallel robot (WDPR, Wire Driven Parallel Robot) is a kind of movement by driver
With power with the shunting means for being concurrently converted to moving platform movement and power for medium of restricting, have that structure is simple, working space is big, fortune
Dynamic speed is fast, higher load/mass ratio, easy to assemble, the advantages that can recombinating.Early in 1984, Landsberger proposed that rope is led
Draw the design problem of parallel robot, hereafter, rope traction and parallel-connection mechanism is increasingly becoming the big hot spot of one studied both at home and abroad, at present
Applied to fields such as large-scale radio telescope, training, medical rehabilitation, wind tunnel test supports.Needs based on engineer application,
It is required that wire saws parallel robot has sufficiently high rigidity and resonant frequency, it is therefore desirable to the vibration to wire saws parallel robot
Dynamic characteristic is analyzed.In simulation analysis, since rope belongs to flexible body, moving platform is generally rigid body, and Coupled Rigid-flexible is built
Mould difficulty with higher, and the accuracy of simulation analysis is difficult to ensure, therefore using test method to wire saws parallel manipulator
The vibration characteristics of people carries out research and is of great significance.
The mode that Chinese patent CN105424797A discloses a kind of inflation fexible film structure based on hammer stimulating method is surveyed
Trial assembly is set and test method, is hung up using flexible nylon rope by fexible film structure is inflated, using two unidirectional acceleration
Sensor is spent, this method is needed to utilize data collecting instrument to force signal and acceleration signal while be acquired, and obtains frequency response function square
Battle array, identifies eventually by parameter, obtains each rank Mode Shape and related modal parameter；What this method obtained is inflation fexible film
The Mode Shape of structure itself.Document [2] proposes a kind of vibration characteristics of method measurement cable parallel mechanism based on Knock test,
It obtains intrinsic frequency by the spectrum analysis of rope tension, has to preceding two ranks intrinsic frequency.A kind of use proposed by the present invention
In the modal test device and test method of wire saws parallel robot, it is only necessary to a unidirectional acceleration transducer is used, then
Acceleration signal is acquired using data collecting card, inputs personal computer, Fast Fourier Transform (FFT) is carried out to acceleration signal
(FFT), so that it may obtain the corresponding intrinsic frequency of complete six ranks rigid body mode of wire saws parallel robot.With above-mentioned two document
It compares, what the present invention obtained is that rope supports intrinsic frequency corresponding with the complete six ranks rigid body mode of moving platform entirety, and structure fills
Set that simple, operation is simple, versatile, the test period is short, experimentation cost is low.
Summary of the invention
It is an object of the invention to design a kind of modal test device that can be used for wire saws parallel robot and test side
Method, and simple, easy for installation, versatile, to mechanism Mass Distribution the influence of structure is small.
The present invention is equipped with traction rope, moving platform, power hammer, acceleration transducer, data collecting card and personal computer.It is dynamic flat
Platform is by 8 traction wire saws, so that suspension is in the sky；Acceleration transducer is connect by data line with data collecting card, is accelerated
Degree sensor is mounted on moving platform；It hammers the surface for tapping moving platform into shape using power, vibrational excitation is applied to it, keep wire saws in parallel
Robot vibrates on a certain single-degree-of-freedom direction；Acceleration letter is received by the acceleration transducer being mounted on moving platform
Number；Acceleration signal is acquired by data collecting card；It inputs personal computer and carries out data processing, using Fast Fourier Transform (FFT)
(FFT), the corresponding intrinsic frequency of complete six ranks rigid body mode of wire saws parallel robot is obtained.
The measurement of acceleration uses unidirectional acceleration transducer, itself quality is no more than the 2% of surveyed object gross mass,
Sensor base is drilled with threaded hole, and the mode that can be connected through a screw thread or paste is mounted on moving platform, or by acceleration sensing
Device is threadedly attached on magnet, is then adsorbed on moving platform.
Moving platform can be the actual object of arbitrary shape.
According to the direction of every single order rigid body mode, acceleration transducer is installed in the appropriate location of moving platform.
The tup material of power hammer can be rubber, metal or plastics, etc..
Using power hammer towards the direction of every first-order modal, the moving platform of wire saws parallel robot support is tapped, wire saws are made
Parallel robot vibrates on a certain single-degree-of-freedom direction.
The present invention has the advantage that
(1) constructional device is simple, operation is simple, experimentation cost is low.The present invention is passed using general power hammer, unidirectional acceleration
Sensor, data collecting card and personal computer, constructional device is simple, and wiring is simple, and operation is simple, and experimentation cost is low.
(2) power hammer excitation is used, does not add any quality to subjects, does not influence the dynamic characteristic of subjects, and survey
It is short to try the period.
(3) moving platform can be the actual object of arbitrary shape, versatile.
(4) the corresponding intrinsic frequency of complete six ranks rigid body mode of wire saws parallel robot can be measured.
Detailed description of the invention
Fig. 1 is overall structure of the present invention.
Fig. 2 is the overall structure diagram of the embodiment of the present invention.
Fig. 3 is the foot piece enlarged drawing on the dummy vehicle of the embodiment of the present invention.
Fig. 4 is the hammer point distribution schematic diagram of the embodiment of the present invention.
Specific embodiment
The present invention is a kind of modal test device and test method for wire saws parallel robot, as shown in Figure 1, setting
There are traction rope 1, moving platform 2, power to hammer 3, data collecting card 4, personal computer 5, acceleration transducer 6 into shape.
The embodiment of the present invention selects the wire saws parallel robot system supported for wind tunnel test as dummy vehicle,
As shown in Fig. 2, moving platform is dummy vehicle 7.
As shown in figure 3, the tip designs of the foot piece support 8 on dummy vehicle 7 are at cuboid, upper surface, lower surface
It is plane with rear end face, material is carbon steel or other have magnetic metal material, can be easily installed acceleration with adsorption magnet
Spend sensor 6.
As shown in figure 4, establishing coordinate system OXYZ on dummy vehicle.According to the direction of every single order rigid body mode, installation
Acceleration transducer 6；For the mode of tri- translational directions of OX, OY, OZ, acceleration transducer 6 is along tri- directions OX, OY, OZ
It is mounted on foot piece support 8；For pitching, rolling, the mode for yawing three rotation directions, acceleration transducer 6 is mounted on winged
On the head of row device model 7 or foot piece support 8.
The dummy vehicle 7 for successively tapping the support of wire saws parallel robot respectively using power hammer 3, makes wire saws parallel machine
Device people vibrates on a certain single-degree-of-freedom direction；For the mode of tri- translational directions of OX, OY, OZ, hammer point selection is being flown
On the foot piece support 8 or fuselage of device model 7, and tapped along tri- translational directions of OX, OY, OZ；For pitching, rolling, yaw three
The mode of a rotation direction, head or wing of the hammer point selection in dummy vehicle 7.As shown in figure 4, showing for hammer point distribution
It is intended to, position shown in six letter A, B, C, D, E, F serial numbers on 7 surface of dummy vehicle is hammer point in figure, and alphabetical A~F divides
OX, OY, OZ, pitching, rolling, the corresponding beating point of six mode of yaw are not represented.
The hammer point on the dummy vehicle 7 of wire saws parallel robot support is tapped using power hammer 3, applies vibration to it
Excitation, vibrates wire saws parallel robot on a certain single-degree-of-freedom direction；Meanwhile it being mounted on wire saws parallel robot
Acceleration transducer 6 receive acceleration signal, through data collecting card 4 carry out recording and storage, input personal computer 5；It is logical
Fast Fourier Transform (FFT) (FFT) is crossed, the corresponding intrinsic frequency of the complete six ranks rigid body mode of wire saws parallel robot is obtained.
The present invention provides a kind of Modal Experimental Methods for wire saws parallel robot.It is specific with embodiment explanation
Experimental procedure is as follows:
Step 1: the pose adjustment of wire saws parallel robot
Wire saws parallel robot is adjusted, guarantees that dummy vehicle 7 is in expected pose；Traction rope tension is adjusted, is guaranteed
The tension of every rope is in tensioning state；
Step 2: the connection of equipment
Acceleration transducer 6 is mounted on dummy vehicle 7, and connects acceleration transducer 6 and data collecting card 4
It connects, data collecting card 4 is connected on personal computer 5 by cable in advance；
Step 3: device parameter setting
It selects the suitable power hammer 3 of tup material to carry out examination to strike, time and frequency domain analysis is carried out to acceleration signal, setting adds
The range of velocity sensor 6；
Step 4: modal test and data processing
After completing aforementioned preparation, start modal test；According to the direction of every single order rigid body mode, in dummy vehicle
Acceleration transducer 6 is installed on 7；Each hammer point at least taps 3 times, after tapping every time, saves the original of acceleration signal
Data；After the percussion for completing complete six ranks rigid body mode, all data are imported into personal computer 5, pass through Fast Fourier Transform (FFT)
(FFT), the corresponding intrinsic frequency of complete six ranks rigid body mode is obtained.
This makes it possible to obtain the corresponding intrinsic frequencies of complete six ranks rigid body mode of wire saws parallel robot.
Claims (6)
1. a kind of modal test device and test method for wire saws parallel robot, it is characterised in that be equipped with traction rope,
Moving platform, power hammer, acceleration transducer, data collecting card and personal computer.It is hammered into shape using power and taps wire saws parallel robot
The moving platform of support applies vibrational excitation to it, vibrates wire saws parallel robot on a certain single-degree-of-freedom direction；Pass through
The acceleration transducer being mounted on wire saws parallel robot receives acceleration signal, obtains the vibration of wire saws parallel robot
Dynamic response；Data collecting card acquires acceleration signal, and input personal computer carries out data processing；Using Fast Fourier Transform (FFT)
(FFT), the corresponding intrinsic frequency of complete six ranks rigid body mode of wire saws parallel robot is obtained.
2. a kind of modal test device and test method for wire saws parallel robot as described in claim 1, special
Sign is the measurement of the acceleration using unidirectional acceleration transducer, itself quality is no more than surveyed object gross mass
2%, acceleration transducer bottom is drilled with threaded hole, and the mode that can be connected through a screw thread or paste is mounted on moving platform, or will
Acceleration transducer is threadedly attached on magnet, is then adsorbed on moving platform.
3. a kind of modal test device and test method for wire saws parallel robot as described in claim 1, special
Sign is that the moving platform can be the actual object of arbitrary shape.
4. a kind of modal test device and test method for wire saws parallel robot as described in claim 1, special
Sign is that the acceleration transducer should be installed according to the direction of every first-order modal.
5. a kind of modal test device and test method for wire saws parallel robot as described in claim 1, special
Sign is that the tup material of the power hammer can be rubber, metal or plastics, etc..
6. a kind of modal test device and test method for wire saws parallel robot as described in claim 1, special
Sign is to hammer into shape using power towards the direction of every first-order modal, taps the moving platform of wire saws parallel robot support, makes wire saws simultaneously
Connection robot vibrates on a certain single-degree-of-freedom direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810856064.XA CN109186905A (en) | 2018-07-31 | 2018-07-31 | A kind of modal test device and test method for wire saws parallel robot |
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| CN201810856064.XA CN109186905A (en) | 2018-07-31 | 2018-07-31 | A kind of modal test device and test method for wire saws parallel robot |
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| CN109186905A true CN109186905A (en) | 2019-01-11 |
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| CN201810856064.XA Pending CN109186905A (en) | 2018-07-31 | 2018-07-31 | A kind of modal test device and test method for wire saws parallel robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111597657A (en) * | 2020-05-22 | 2020-08-28 | 南京航空航天大学 | Method for calculating modal parameters and vibration response of rotary joint type industrial robot |
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| JPH09257634A (en) * | 1996-03-25 | 1997-10-03 | Isuzu Motors Ltd | Device for analyzing vibration characteristic |
| CN201569554U (en) * | 2009-12-31 | 2010-09-01 | 重庆大学 | Integrated modality analyzer |
| CN205879553U (en) * | 2016-07-18 | 2017-01-11 | 华东交通大学 | High speed train bogie wheel pair modal analysis's test device |
| CN106468623A (en) * | 2016-09-26 | 2017-03-01 | 华南理工大学 | Power assembly suspension system rigid body mode parameter test method under a kind of whole vehicle state |
| CN107388907A (en) * | 2017-08-22 | 2017-11-24 | 天津航天瑞莱科技有限公司 | A kind of Free Modal pilot system under guided missile autorotation |
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2018
- 2018-07-31 CN CN201810856064.XA patent/CN109186905A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09257634A (en) * | 1996-03-25 | 1997-10-03 | Isuzu Motors Ltd | Device for analyzing vibration characteristic |
| CN201569554U (en) * | 2009-12-31 | 2010-09-01 | 重庆大学 | Integrated modality analyzer |
| CN205879553U (en) * | 2016-07-18 | 2017-01-11 | 华东交通大学 | High speed train bogie wheel pair modal analysis's test device |
| CN106468623A (en) * | 2016-09-26 | 2017-03-01 | 华南理工大学 | Power assembly suspension system rigid body mode parameter test method under a kind of whole vehicle state |
| CN107388907A (en) * | 2017-08-22 | 2017-11-24 | 天津航天瑞莱科技有限公司 | A kind of Free Modal pilot system under guided missile autorotation |
Non-Patent Citations (2)
| Title |
|---|
| 师汉民: "《机械振动系统-分析•建模•测试•对策（下） 第三版》", 31 January 2013 * |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111597657A (en) * | 2020-05-22 | 2020-08-28 | 南京航空航天大学 | Method for calculating modal parameters and vibration response of rotary joint type industrial robot |
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Application publication date: 20190111 |
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