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- W93208540 abstract "The dynamic behavior of robots is strongly influenced by the condition and the characteristics of their joints (link connections). The robot joints are considered as one of the major sources of nonlinearities in the robot structure. The dynamic behavior of the robot elements and their vibration signals are clearly affected by the presence and the size of backlash and clearance in various robot links. The presence of backlash in robot joints results in severe degradation of robot performance. A method is proposed for condition monitoring and backlash detection and estimation of robot joints from their time-domain vibration signatures. The motions of four types of robot joints are: without backlash, with a small backlash, with medium backlash, and with large backlash. All these are analyzed using their measured acceleration signals. The application of a nonlinearity check has shown the presence of deterministic nonlinear chaotic motion in the irregular behavior of the considered joints." @default.
- W93208540 created "2016-06-24" @default.
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- W93208540 date "2000-01-01" @default.
- W93208540 modified "2023-09-23" @default.
- W93208540 title "Condition monitoring and damage quantification in robot joints using nonlinear dynamics characteristics and inverse classification methods" @default.
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- W93208540 doi "https://doi.org/10.1016/b978-008043693-7/50112-4" @default.
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