摘要
提出一种工业机器人用谐波减速器的三向振动测试方法,模拟工业机器人工作状态,设计谐波减速器加载装置,对谐波减速器进行三向振动测试。对测得数据进行时域统计、频域分析,用于评价振动性能,分析谐波减速器振动特性,确定振动异常的原因。通过对产品的振动测试与研究,能有效地监测谐波减速器的振动性能,对产品进行质量控制。
A new vibration testing method is introduced to measure three directional vibration of the harmonic reducer used in industrial robot. To simulate the working state of industrial robot,the harmonic reducer loading device is designed. In the case of loading,the vibration of a harmonic reducer in three direction is measured. The time domain statistics and frequency domain analysis are carried out for the measured data. The experimental data is used to evaluate the vibration performance,analyze the vibration characteristics of the harmonic reducer,and determine the cause of the vibration abnormality. The research results show that the presented measuring method is helpful to monitor the vibration performance of the harmonic reducer,and control the quality of the product.
作者
谭晶
石德昱
黄迪山
顾京君
Tan Jing, Shi Deyu ,Huang Dishan , Gu Jingjun(School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China)
出处
《机械传动》
CSCD
北大核心
2018年第5期106-110,共5页
Journal of Mechanical Transmission
基金
国家863计划项目(工业机器人RV减速器研发生产及应用示范2015AA043003)
关键词
谐波减速器
三向振动
测试
工业机器人
Harmonic reducer
Three directional vibration
Test
Industrial robot
