Title :
Signal decomposition and fault diagnosis of a SCARA robot based only on tip acceleration measurement
Author :
Liu, Hongwei ; Wei, Tao ; Wang, Xingsong
Author_Institution :
Dept. of Mech. & Electr. Eng., Nanyang Inst. of Technol., Nanyang, China
Abstract :
A new online fault diagnosis method for a SCARA robot is presented in this paper. This approach is based on separating of the tip acceleration signal into program related acceleration (PRA) and transmission related acceleration (TRA). Unlike existing methods mounting varies sensors at every joints, the proposed technique applies only one accelerometer mounted at the tip of the robot. An advanced detrending algorithm has been developed to extract PRA and TRA signals from the measured acceleration signals. Based on dynamic analysis of the robot, the theoretical acceleration profile of the programmed motion is obtained, which is compared with the PRA signals measured during working. Typical FFT-based spectrum analysis is applied for analyzing the detrended TRA signal for fault diagnosis. The effectiveness of the proposed approach has been verified with experiments conducted on a 4DOFs SCARA manipulator.
Keywords :
acceleration measurement; accelerometers; fast Fourier transforms; fault diagnosis; manipulators; signal processing; 4DOF SCARA manipulator robot; FFT based spectrum analysis; advanced detrending algorithm; online fault diagnosis method; program related acceleration; signal decomposition; tip acceleration measurement; tip acceleration signal; transmission related acceleration; Acceleration; Accelerometers; Fault detection; Fault diagnosis; Manipulator dynamics; Orbital robotics; Robot sensing systems; Robotics and automation; Signal analysis; Signal resolution; Fault diagnosis; SCARA robot; accelerometer;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246418
