Research And System Development Of Transient Fault Detection Method For Serial Manipulators

Serial manipulators are used in a wide range of applications.In the process of using the serial manipulators,if there were sudden changes in working conditions,loads,unreasonable trajectories,electrical interference and other factors,it will lead to abnormal operation of the serial manipulators and make its action distortion,thus affecting its operating accuracy.This situation can be considered a fault.Most of the faults generated in the operation of serial manipulators have obvious transient character.In this paper,a series manipulator transient fault detection system is designed and developed by studying the identification and extraction method of transient information.This paper mainly completed the following aspects of work.(1)With STM32F7 as the core processor,a hardware system for transient fault detection of serial manipulators is developed.The system mainly includes:microprocessor module,virtual serial module,AD module,MEMS module,power supply module,program download module and other sections,which can realize the signal detection of three-axis acceleration,three-axis gyroscope and high-frequency vibration.(2)The software part of the transient fault detection system for serial manipulators is developed,including terminal software and central software.The terminal software is programmed with C language,which mainly realizes the functions of STM32 microprocessor system initialization,sensor parameter configuration,data storage and serial communication.The central software is programmed with Visual C,which mainly realizes the functions of receiving and processing of signal data and the displaying of waveform.(3)A signal decomposition method and a transient shock signal extraction method based on auditory saliency model are proposed.Firstly,Gammatone band-pass filter is used to divide the original signal.Then,both variable scale two-dimensional filtering and variable scale one-dimensional filtering are used for the envelope analysis results.Next,information synthesis is performed on the two-dimensional and one-dimensional variable-scale integrated signals.Finally,the synthesized information is simulated by side suppression and the impact signal extraction to obtain the transient shock signal.(4)The IRB1200 serial manipulators are tested under different conditions such as multi axis linkage and single axis rotation.The transient shock extraction of the tested signal is carried out,and the fault analysis and processing are performed to finally determine the fault information present in the serial manipulators.