Vibration Diagnosis and Optimization of Industrial Robot Based on TPA and EMD Methods

This paper proposed method that combined transmission path analysis (TPA) and empirical mode decomposition (EMD) envelope to solve the vibration problem of an industrial robot. Firstly, deconvolution filter time-domain TPA is trace source along with time variation. Secondly, positioned main robotic under typically different working conditions. Thirdly, independent testing Rotate Vector (RV) reducer conducted loads speeds, which are key components The EMD Hilbert was used extract fault feature RV reducer. Finally, structural problems were summarized. performance robots improved through optimization. From whole robot local Reducer then internal microstructure reducer, defect information traced accurately. Experimental results showed hybrid methods more accurate efficient than traditional time-frequency problems.