In health monitoring of industrial robots

a joint vibration solution method based on current information and modal analysis was proposed to solve the problem of increasing testing cost caused by the need to use vibration sensors to detect each joint one by one. Firstly

the joint current information is introduced to establish the vibration model of industrial robot based on joint current. Then

the modal analysis is carried out by the finite element method to obtain the first 6 vibration modes of the robot

so as to optimize the layout of measuring points for subsequent modal tests. Then

in the force hammer excitation experiment

based on the optimized measuring points

the modal parameters such as mass and stiffness of the industrial robot system are measured. After that

the driving torque and modal parameters were put into the model to solve the Runge-Kutta numerical solution

and the vibration response of each joint of the robot was obtained. Finally

the proposed algorithm is validated by the measured vibration data of single and linkage joints running at a specified joint angle.