A vibration separation method for flexible joints of robot driven by combination of model and data

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Journal of Vibration and Shock ›› 2024, Vol. 43 ›› Issue (23) : 12-19.

LI Jianlong1,2, LIU Xiaoqin1,2, WU Xing1,2,3, WANG Dongxiao1,2, XU Kai1,2

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Abstract

Owing to the inherent flexibility of the industrial robot joints, the machinery manifests heightened vibrational tendencies during operation. To address the challenge of isolating fault components within mixed vibration signals acquired during instances of robot joint malfunctions, a vibration separation method for robotic joints based on a mixed drive consisting of models and data is proposed. Initially, the actuator dynamics response model is constructed by amalgamating multi-physics signals with system dynamics. This response signal serves as the benchmark signal in the process of vibration separation. Subsequently, the amplitude spectral percentile sequence was developed. Variable point analysis is employed to ascertain the optimal noise threshold, complemented by the design of a band-pass filter for noise segregation. Additionally, efforts are made to eliminate phase errors arising from measurement and filtering between the reference vibration and mixed vibration signals, a method employing Adjustable Factor Dynamic Time Warping is presented. Ultimately, the separation of fault components is achieved by subtracting the reference vibration from the denoised and phase-corrected mixed vibration. Experimental findings obtained from a robotic joint test platform substantiate the efficacy of the proposed methodology in successfully isolating fault components from joint vibrations.

Key words

Robot joint faults / Fault separation / Adjustable Factor Dynamic Time Warping / Noise separation / Data generation

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LI Jianlong1, 2, LIU Xiaoqin1, 2, WU Xing1, 2, 3, WANG Dongxiao1, 2, XU Kai1, 2. A vibration separation method for flexible joints of robot driven by combination of model and data[J]. Journal of Vibration and Shock, 2024, 43(23): 12-19

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