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RESEARCH PAPERS

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

Abstract

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
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