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Abstract:
A calculating method of multibody system dynamics is presented.
Using impulse response, the dynamic characteristics is analyzed both in
the time and frequency domain. Based on this principle, a general
purpose program DAGOMS and a FFT post data processing program PTODA was
developed. The experimental model analysis was done on an industrial
robot as a typical system. The experimental modal analysis was done on
an industrial robot as a typical system. The equivalent stiffness and
damping coefficients for the joints were estimated. Using the preceding
program numerical calculating results in the time and frequency domain
can be obtained. The calculating results are in agreement with the
experimental data.
Key words:
机构 动力学
国家自然科学基金资助项目. Received 198911,
received in revised form 199002
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