This paper focuses on the detection of failure of parallel robot caused by the existence of excessive joint clearance due to the wear of joint elements during a long use under high load at high speed. In order to enable the estimation of passive joint clearance values in parallel robot without specially designed trajectories and any additional equipment, a linearized model to formulate the relationship between the clearance and actuation torque difference was presented introducing the stochastic variables. Solution process of this formulation by using the torque data obtained by experiments and dynamic analyses for a set of trajectories was proposed. Experiments were conducted for an industrial Delta robot in which spherical joints having clearance ranging from 0 to 0.15 mm were used. Performance of the estimation of joint clearance was stochastically evaluated, and the results showed the feasibility of the failure detection based on the proposed method.
Model Based Estimation of Passive Joint Clearance in Parallel Robot and Its Application to Failure Detection
Mechan. Machine Science
International Workshop IFToMM for Sustainable Development Goals ; 2021 November 25, 2021 - November 26, 2021
2021-10-14
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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