Fault Diagnosis System of Cartesian Robot for Various Belt Tension

Cartesian robots framework is a complex mechanical structure that consists of gearboxes, joints, and moving parts. The main problem with this structure is the impossibility to monitor any faults in mechanical parts that have occurred during work operations. An example of such a system, the Hirata cartesian robot, is described in the paper. The fault diagnosis system and main gearbox of the cartesian robot are researched. This article shows the significance of fault diagnosis in mechanical parts of industrial robots based on a mathematical model and real experimental results. Belt tension is the main fault considered in the article. For analysis of additional vibrations, fast Fourier transform and continuous wavelet transform are used. Based on spectrum analysis results, conclusions are described of the possible consequences of the presented fault.