Vibration Analysis And Experimental Research Of Industrial Robot Based On TPA And EMD

The mechanization and intelligence of industrial production have led the revolution in the manufacturing industry.The industrial robot industry has great potential for development.The vibration performance of the robot directly affected its reliability,working accuracy and market.This paper systematically researched the obvious vibration problem of the robot arm.This paper evaluated the vibration performance of the robot based on the test method.The robot vibration problem was researched by using the improved transfer path analysis(TPA)method.The key components of the robot-RV(Rotate Vector)reducer was tested to find the main cause of the jitter problem.Then the vibration performance of the robot was improved by optimize this problem.The specific work content was as follows:(1)This paper introduced the theoretical knowledge and analysis process of the transfer path analysis(TPA)method,and deduced the inverse matrix method of transfer path load identification in detail.To improve the ill-conditioned problems in the inverse matrix method,the error back propagation(BP)algorithm was used to overcome the problems of large calculation and low accuracy in matrix inversion.Finally,the relevant theoretical derivation and algorithm flow were given to improve the calculation accuracy and timeliness.(2)Based on the engineering test method,the robot was subjected to typical working condition vibration and transmission path test.First,the vibration signal was analyzed in time domain and frequency domain.So the measurement points that could effective reflect the fault characteristics were initially selected.From a practical perspective,the vibration performance of the industrial robot was evaluated based on the vibration energy amplitude.The improved TPA algorithm was first applied to robot vibration testing.This method effectively calculated the excitation source with a large contribution of the robot and the transmission path in the robot vibration transmission system.Then the main vibration excitation source was deep studied,and a test bench was set up to independently test the core components at the excitation source.(3)The fault diagnosis of RV reducer,the core part of the robot,was researched based on Empirical Mode Decomposition(EMD).This paper made a preliminary evaluation for the vibration performance of the reducer by analyzing the vibration signal in time and frequency domain.The classic empirical mode decomposition(EMD)and Hilbert envelope analysis methods in the gearbox fault diagnosis were introduced to extract the fault features of the RV reducer.Combining with the structural characteristics of the reducer,the study found the structural problems of the RV reducer.Then a structural optimization method was proposed for the problem RV reducer.(4)Finally,the vibration performance of the industrial robot was optimized because of the improving of the RV reducer.The effectiveness of the TPA analysis method and EMD fault diagnosis in the field of industrial robot vibration optimization were proved by the method of comparative experiment.This paper presented a complete set of robot abnormal jitter diagnosis process,which provided reference and guidance for the testing research of industrial robots and their important parts.It is one of the practical significances for improving the comprehensive performance of industrial robots.