Fault Diagnosis of Joint Backlash

[+] Author and Article Information
M.-C. Pan, H. Van Brussel, P. Sas, B. Verbeure

Mechanical Engineering Department, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001 Leuven, Belgium

J. Vib. Acoust 120(1), 13-24 (Jan 01, 1998) (12 pages) doi:10.1115/1.2893797 History: Received July 01, 1994; Revised July 01, 1995; Online February 26, 2008


The aim of this paper is to develop appropriate techniques 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 combined with two-dimensional correlation techniques have been employed to diagnose the joint faults of multi-link robots. In the study reported here, signal detection based on the Wigner-Ville distribution is proposed as a tool for pattern differentiation. To evaluate the performance of different detection procedures, the detection of a simulated impact transient embedded in three simulated observed signals is presented. To assess the validity of the proposed approaches, they have been successfully employed in the fault diagnosis of link-joints on both a two-link mechanism and an industrial robot.

Copyright © 1998 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In