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.

摘要： 对具有不同结构参数的Gough-Stewart并联机器人机构进行典型位姿下的脉冲激励试验，研究系统谐振频率随结构参数和位姿的变化规律。首先，按照一定的结构参数装配机构，在上平台的结构特征点布设加速度计。然后，在典型位姿进行脉冲激励，记录特征点空间三个自由度方向上的加速度响应，利用分析软件求解频率响应函数曲线，并进行谐振频率辨识，分析谐振频率随位姿的变化情况。最后，改变结构参数重新装配机构，重复试验过程，分析谐振频率随结构参数的变化情况。研究结果可作为机器人动态优化设计与控制器设计的参考。

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