船电技术2025，Vol.45Issue(9)：30-34,5.
工业机器人执行器故障非线性频谱特性分析
Analysis of nonlinear spectral characteristics of industrial robot actuator failures
摘要
Abstract
Aiming at the problem that the current research on system fault diagnosis ignores nonlinear characteristics,this paper analyzes the nonlinear spectral characteristics of faults in large industrial robot systems.Taking the failure of the entire robot actuator caused by the failure of the robot drive system as an example,a large six-joint industrial robot model is established.The motor speed and stator current collected serve as the system input and output respectively.The first four-order NOFRF spectra of the system are obtained by using the adaptive identification algorithm,and variation rules of the NOFRF spectra under different states are analyzed.The experimental results show that compared with traditional methods for characterizing fault features,the NOFRF spectra are more sensitive to state changes,and the spectra contain richer nonlinear fault features.Using them as fault features for system diagnosis can effectively improve the diagnostic accuracy.关键词
大型机器人系统/非线性频谱/NOFRFKey words
Large robot system/Nonlinear spectrum/NOFRF分类
信息技术与安全科学引用本文复制引用
张娓娓,陈乐瑞..工业机器人执行器故障非线性频谱特性分析[J].船电技术,2025,45(9):30-34,5.基金项目
河南省自然科学基金面上项目(NO.242300421417) （NO.242300421417）
