The analysis on grades of fire smoke exhausting robot´s operation quality

Now the running stability indexes for car and train have a big weighted coefficient for the sensitive frequencies of human being, and this is not suitable for fire robot as it has no passenger, and in this paper, a new running stability index which based on acceleration and frequency has been set up, And in the running stability index, sensitive frequencies for mechanical fault have been paid more attention, the vibration spectrum divide into three parts, which are dominant frequency and primary harmonic and tiny harmonics caused by transmission, each of the part signal characterize the running information of engine and transmission. A set of method for measuring the vibration of robot has been proposed. And according to several experiment results a new divided grades of operation quality based on the running stability index has been found for judging healthy condition of the robot.