中北大学学报（自然科学版）2024，Vol.45Issue(1)：12-21,10.DOI:10.3969/j.issn.1673-3193.2024.01.002
基于运动模式划分的工业机器人健康监测方法
Health Monitoring Method of Industrial Robots Based on Motion Pattern Division
摘要
Abstract
Due to the problem of multi-motion mode coupling of industrial robots,the traditional health monitoring scheme needs to install sensors at each joint separately,which is difficult to meet the needs of actual industrial field.A 6-joints industrial robot is taken as the research object,and the health monitoring method of industrial robot in multi-motion mode switching scenario is studied based on vibration signals.Firstly,robot motion modes are divided by jump point algorithm,and signal intervals corresponding to dif-ferent motion modes are obtained.Secondly,the monitoring indexes are extracted from the signals of dif-ferent motion modes.Finally,the health monitoring of different joints of industrial robots is realized based on the control chart method.The proposed method is verified by the experimental data of industrial robot degradation.It shows that the proposed method can realize the health status monitoring of 6 joints of the robot with only two vibration sensors.The motion pattern partitioning algorithm proposed in this paper costs shorter running time,has higher single precision and better repeatability when analyzing a large num-ber of historical degraded data.The proposed method can effectively avoid the misjudgment of monitoring results which may be caused by the difference of motion mode coupling and sampling signal under the con-dition using only a few sensors,making the monitoring results more accurate and reliable,and more suit-able for the health status monitoring of industrial robots in actual industrial sites.关键词
工业机器人/健康监测/运动模式划分/控制图法Key words
industrial robot/health monitoring/motion mode division/control chart method分类
机械制造引用本文复制引用
张中伟,王传刚,韩炎序,张超,李乃鹏,张帅..基于运动模式划分的工业机器人健康监测方法[J].中北大学学报（自然科学版）,2024,45(1):12-21,10.基金项目
国家自然科学基金资助项目(52375121) （52375121）
