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Abstract

Techniques have been developed to detect and classify the joint backlash of a robot by monitoring its vibration response during normal operating conditions. In this investigation, Wigner-Ville distributions (WVD) combined with two-dimensional correlation techniques have been employed to diagnose various degrees of single-joint backlash. It is also possible to detect and single out backlash present in two joints of a multi-link mechanism.

The WVD based signal detection and generalized symmetrical Itakura distance were initially proposed as tools for pattern differentiation to quantify backlash in a single joint. The detection problem has now been generalized to diagnose faults in two joints simultaneously. Due to the extra degree of freedom given by the 2-dimensional nature of the WVDs, certain time-frequency regions were chosen as reference signatures in the case of single-joint backlash and the signatures, spanning over two impact transients at the reverses of motion, were chosen for techniques have been successfully implemented on a two-link mechanism.

Additional information

Authors: PAN M-C, Katholieke Universiteit Leuven, Department of Mechanical Engineering (BE);VERBEURE B, Katholieke Universiteit Leuven, Department of Mechanical Engineering (BE);VAN BRUSSEL H, Katholieke Universiteit Leuven, Department of Mechanical Engineering (BE);SAS P, Katholieke Universiteit Leuven, Department of Mechanical Engineering (BE)
Bibliographic Reference: Article: DE-Vol. 84-1, Design Engineering Technical Conferences, Vol. 3 (1995) Part A, 1405-1412, ASME 1995
Record Number: 199610258 / Last updated on: 1996-03-18
Category: PUBLICATION
Original language: en
Available languages: en