Resonance Suppression of a Controllable Mechanism Welding Robot End with Central Composite Design Methodology

Abstract

Aiming to achieve resonance suppression of a controllable mechanism welding robot end using dynamic modeling and experimental verification, this paper applies a central composite design methodology to optimize suppression resonance using three variables: excitation source, rod stiffness and damping. Considering the coupling effects of the excitation source, member stiffness and damping, a combination optimization is carried out, and the optimal control result of the end is obtained, for which the optimized peak amplitudes are significantly reduced. The research provides an important technical basis for the dynamic design and resonance suppression control of controllable welding robot mechanisms.