위상 정보 활용 시간 영역 평균법을 이용한 산업용 로봇 고장 진단

Recently, industrial robots play the crucial roles in the smart factory. However, the unexpected failure of the industrial robots causes a large amount of downtime and economic loss. Therefore, it is required to develop the fault detection method for the industrial robots. In this study, we focus on the mechanical fault from the gearbox, which works as the reducer in the industrial robots. Vibration signals are effectively used for detecting the fault on the gearbox. Vibration signals from the gearbox have strong deterministic signals due to the gear meshing. Therefore, the deterministic signals can be removed for improving the sensitivity of fault detection. Time domain average (TDA) is a method to obtain the deterministic signals from the gearbox. However, the signals from the gearbox in the industrial robots are not usually synchronized and the result of TDA is erroneous. To solve this problem, we propose TDA with phase. The phase is obtained from Fourier transform. The proposed method is demonstrated with the industrial robot.