基于模型的应变波齿轮应变传感器故障仿真与检测

Q3 Engineering

IFAC-PapersOnLine Pub Date : 2025-01-01 DOI:10.1016/j.ifacol.2025.03.047

Julian Kißkalt , Andreas Michalka , Christoph Strohmeyer , Maik Horn , Knut Graichen

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引用次数: 0

摘要

应变波齿轮（SWG）是驱动机器人的重要部件。然而，它们容易磨损和退化，对机器人的故障有很高的风险。因此，swg的故障检测对机器人的安全运行具有重要意义。本文展示了仿真链的能力，可以产生安装在其弯曲样条背面的应变计传感器的故障swg信号，其定性行为与实际测量信号相似。此外，模拟的传感器信号用于数据驱动的测量数据故障检测，显示了该方法在实际应用中的实用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Model-based fault simulation and detection for gauge-sensorized strain wave gears

Strain wave gears (SWG) are important parts to drive robots. Yet, they are susceptible to wear and degradation carrying high risk for malfunction of the robot. Hence, the detection of faults in SWGs is of great interest for the robot’s safe operation. In this paper, the capability of a simulation chain is shown to generate faulty SWGs’ signals of strain gauge sensors mounted on the back of their flex spline with qualitatively similar behavior to real-world measurement signals. Furthermore, the simulated sensor signals are used for a data-driven detection of faults in measurement data showing the practicality of this approach for real-world applications.

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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