机械手远程监测及故障诊断系统的研究-检测技术与自动化装置专业论文.docxVIP

机械手远程监测及故障诊断系统的研究The 机械手远程监测及故障诊断系统的研究 The Study of Remote Monitoring and Fault Diagnosing System for Manipulators Abstract In recent years，industrial robots，especially industrial manipulators have won wide range of applications，playing important role in the progress of enterprises upgrading．However， with the time running，industrial robots could hardly avoid variOUS faults．As industrial robot iS kind of complicate equipment，it is difficult for users to maintain the faulted robots independently．With the increasing scale of the industrial robot sale．the limited number of maintenance technicians could hardly satisfy the growing number of users for the needs of service．Therefore，designing and developing the remote monitoring and fault diagnosing system，to help technicians monitor the state ofthe industrial robots．and in the event ofa failure tO provide maintenance，is of great significance．．． Based the analysis of remote monitoring and fault diagnosing system，according to the demand ofindustrial robots remote monitoring and diagnosing，and with the help ofthe general hardware platform，a software platform of manipulators’remote monitoring and fault diagnosing system is designed as the foundation to realize the basic function，SO as to guarantee the smooth running of manipulators and further explore the remote service function of it．As for the fault warning and diagnosing function，which is the key function of the system，the author takes manipulators the research subject，leading an analysis into the general vibration caused by mechanical failure and searching for the relation between specific fault ioint and the representation of manipulators in terminal vibration and decreasing precision by means of mathematical model of manipulators’vibration fault：And through the deductive analysis to 2一 DOF manipulators，3-DOF manipulators，SCARA robots and 6一DOF manipulators，it is expected to find fault j oint positioning method with less calculation． Key Words：Manipulator；Remote Monitori