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文章用集中参数传递矩阵法理论分析与锤激振动试验研究上海交大研制的上海Ｉ号机器人的振动特性，仿真与试验的结果相互印证，并讨论了谐波传动等效扭转弹簧、臂端负载、驱动电机等效转动惯量等因素对机器的振动特性的影响。
In this paper, the vibration characteristics of Shanghai I-robot developed by Shanghai Jiaotong University are studied with the theory of concentrated parameter transfer matrix method and the hammer vibration test. The simulation and experimental results confirm each other. The equivalent torsion spring of harmonic drive, The influence of equivalent motor moment of inertia on the vibration characteristics of the machine.