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针对重载机器人故障机理分析问题
利用非线性频谱分析重载机器人系统故障特性。考虑重载机器人系统中存在的柔性关节
在重载机器人刚柔耦合动力学模型基础上
利用递推法建立重载机器人关节的前4阶基于输出频率响应函数的非线性输出频率响应函数(NOFRF)频谱计算模型
得到不同疲劳故障程度下的NOFRF频谱;利用NOFRF频谱对关节发生机械疲劳时高次谐波成分和亚共振现象进行分析解释
并进行了故障诊断实验。结果表明:NOFRF频谱对关节疲劳故障很敏感
能够较好地解释重载机器人因关节机械疲劳故障产生抖动现象的机理;与利用系统输出频域和时频域信号进行故障诊断的方法相比
所提采用NOFRF频谱作为故障特征的方法在重载机器人的诊断准确率分别提高了19.38%和6.88%
达到了93.13%。
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