基于概率统计的机器人运行工况检测

Robot Operating Condition Detection Based on Probability Statistics

为监控工业机器人的运行状态,给出常态的运行标准。该文将利用便携式声学振动仪采集各轴不同速度下的振动信号。利用Matlab计算峭度系数、峰峰值、标准差、平均值及脉冲因子并绘制折线图,进行概率统计分析。对比各轴在变速运行下的参数特征,总结各轴振动特性及值域范围,为工业机器人的故障检测、精度优化和运行监测提供理论基础。

In order to monitor the running state of industrial robot and give the normal running standard,this paper will use portable acoustic vibrometer to collect the vibration signals of different axes at different speeds. Using Matlab to calculate kurtosis coefficient,peak-to-peak value,standard deviation,average value and pulse factor,and draw a line chart for probability statistical analysis. Compare the parameter characteristics of each shaft under variable speed operation,and summarize the vibration characteristics and range of each shaft. It provides a theoretical basis for fault detection,precision optimization and operation monitoring of industrial robots.