Non-linear Vibration Analysis of a Robot Arm
نویسنده
چکیده
The possibility of fault detection in strwtuxs from changes in their non-line= parameters is one of the actual question of dynamic system monitoring. Thii study concentrates on signal processing techniques for non-linear system investigtion, based on Hidbert transform and ewelope and instante.. neous frequency, which enables us to estinmte system instantaneous dynamic parameters (natural frequencies, damping chaacteristics and their dependencies on a vibration amplitude and frequency) during free vibration analysis and d&rent kinds of excitation of the system. The direct time domain techniques allow a direct extmction of the linear and non-linear systems parameters from the meunred time signal of input and output. Experimented results of two robot rams testing according to the vibration signal analysis technique have been outlined in this paper. Using an imp&e and also a sweep harmonic excitation from the motor (below-after e-h resonance) we get an input torque signal which together with output vibration signal was used for the modal system analysis. The obtained natural frequency and loguithmic decrement are dependent on the input torque level, so the robot system includes nonlinearity both in the spring and d-ping.
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