平面关节型机器人故障诊断智能系统的设计

The design of intellectual system for trouble diagnosis of planar joint typed robot

结合平面关节型机器人的特点 ,提出将机器人分为 2个不同性质的子系统 :机械子系统 ;控制子系统。针对不同特点 ,分别利用不同的故障诊断技术 ,如机械部分的振动检测法等等。并在此基础上 ,利用智能理论 ,建立一个基于层次的平面关节型机器人故障诊断智能系统。该系统根据机器人故障诊断的特点 ,提出了诊断知识的层次诊断模型 。

By combining with the features of planar joint typed robot,this paper divided robots into two sub-systems with different characteristics:the mechanical sub-system and the control sub-system.Directed against distinct features,different techniques of failure diagnosis have been utilized respectively,such as vibration detection method of mechanical parts etc..On the basis of this foundation and utilizing intellectual theory an intellectual system for trouble diagnosis of planar joint typed robot was established based on layers.According to the features of robotic failure diagnosis,the layer diagnosis model of diagnosis knowledge was advanced and by using this model the structural classification and failure classification were carried out upon the planar joint typed robots.