Flutter Analysis and Modal Test of A Sixdegreeoffreedom Industrial Manipulator Industrial manipulator plays an irreplaceable role in assembly line, aerospace, shipbuilding and other industrial fields. However, due to the low overall stiffness of industrial manipulators and other reasons, the actual application of the manipulator can produce flutter that will influence the normal operation. In this paper, the flutter of sixdegreeoffreedom industrial manipulator caused by the similar resonance frequencies of joint motor and reducer and the low overall stiffness is analyzed. The flutter mechanism is analyzed through the structural modeling and theoretical mechanical modeling of the manipulator. Then the vibration joint and frequency are determined by simulation analysis and vibration test. The flutter problem of the manipulator is solved by restraining and avoiding the relevant frequency.

Dynamic Parameter Identification of a 6DOF Industrial Manipulator Considering Friction Model Dynamic parameters identification is essential for motion control of industrial robots. Precise identification is still an open issue due to friction, transmission backlash, and measurement noises of sensors. In this paper, based on a minimum set of parameters considering friction model, a unified identification approach is proposed. With this method, some essential data from robotxe2x80x99s joints motion can be sampled and calculated at the same time, thus all dynamic parameters are also acquired at one time. The 5th order Fourier series is used as the excitation trajectory. The optimal excitation trajectory is determined by minimizing the condition number, and the minimum set of parameters of the robot is obtained by combining with the least square method. Experiment results taken on a 6DOF industrial manipulator Staubli TX60 verified the correctness of the presented method.xe2x88x97