基于传动部件摩擦特性演变的机器人机械手初期故障诊断

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-09-16 DOI:10.1017/s0263574724001450
Xing Zhou, Shifeng Huang, Yaoqi Xian, Huicheng Zhou, Wenbin Deng, Jian Zhou
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引用次数: 0

摘要

摩擦学行为可以为机器人机械手的初期故障提供信息。本研究通过一系列稳态摩擦实验,探讨了摩擦特性从冷启动到热平衡的演变过程。基于这些实验观察结果,提出了基于摩擦的故障诊断框架。故障诊断过程主要包括定义健康状态、分解摩擦曲线及其特征以及异常检测。考虑到摩擦特性对不同故障源的依赖性,稳态实验摩擦模型的参数被分为两类:一类与接触相互作用相关,另一类与非接触状态相关。随后,独立构建了与可区分的摩擦特性相对应的置信区域。这些区域囊括了健康状态的统计描述,其特征是无负荷状态下摩擦特性参数向量的平均值和协方差。此外,我们还进行了考虑外加载荷对摩擦行为影响的实验。这些实验可作为与名义统计数据进行比较的测试集。利用磨损和载荷对摩擦影响的相似性,我们引入了等效载荷阈值来评估关节退化的严重程度。结果证明了基于摩擦特性分类的置信区间视图用于故障检测和隔离的可行性。
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Incipient fault diagnosis for robot manipulators based on evolution of friction characteristics in transmission components

The tribological behavior can be informative about the incipient faults of robot manipulators. This study explores the evolution of friction characteristics from cold start to thermal equilibrium through a series of steady-state friction experiments. Based on these experimental observations, a friction-based fault diagnosis framework is proposed. The fault diagnosis process primarily involves defining the healthy state, decomposing friction curves and their features, and anomaly detection. Given the dependence of friction characteristics on different sources of faults, the parameters of steady-state experimental friction model are divided into two categories: one associated with contact interactions and the other related to non-contact regimes. Subsequently, confidence regions corresponding to distinguishable friction characteristics are independently constructed. These regions encapsulate the statistical description of the healthy state, characterized by mean values and the covariance of the friction characteristic parameter vectors during the unloaded state. In addition, we conduct experiments that consider the influence of applied loads on friction behavior. These experiments serve as a test set for comparison against nominal statistics. Leveraging the similarity between the effects of wear and load on friction, we introduce equivalent load thresholds to assess the severity of joint degradation. The results demonstrate the feasibility of employing confidence region views based on friction characteristic classification for fault detection and isolation.

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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
期刊最新文献
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