Cycloid gear tooth fault detection of industrial robot joints based on IAS signal

Industrial robots often operate under non-stationary conditions, including rotation direction changes, variable speed, and incomplete cycles. It prevents conventional vibration analysis methods from detecting cycloid gear tooth faults in industrial robot joints. Furthermore, installing external sensors to monitor the robots can be expensive and complicated. To address these issues, this paper proposes a scheme that uses instantaneous angular speed (IAS) signals to detect cycloid gear tooth faults in robot joints by the built-in servomotor encoders on the industrial robot joints. Experiment results show that the proposed strategy can be employed to detect cycloid gear tooth wear in the robotic joint under non-stationary conditions.