关键词: 振动与波, Gough-Stewart并联机构, 谐振频率, 脉冲激励试验, 频率响应函数

Abstract: Impulse excitation experiments of Gough-Stewart manipulator were conducted at typical configurations with different structural parameters, and the frequency varying with structural parameters and configurations were studied. Firstly, the mechanism was assembled according to certain structural parameters, and accelerometers were laid-out on the moving platform at feature points. Then, pulse excitation was executed at typical configurations, and the acceleration response at three degrees of freedom was recorded. The frequency response function curves were obtained and the resonant frequencies were identified using the analysis software. The resonant frequency varying with configurations were analyzed. Finally, the mechanism was reassembled according to the changed structure parameters, and the experiment process was repeated. The resonant frequency varying with the structure parameters were analyzed. The analysis results can be used for robot dynamic optimization and controller design.