Research Article Open Access

Industrial Robot Fault Detection Based on Statistical Control Chart

Alaa Abdulhady Jaber1 and Robert Bicker1
  • 1 Newcastle University, United Kingdom
American Journal of Engineering and Applied Sciences
Volume 9 No. 2, 2016, 251-263

DOI: https://doi.org/10.3844/ajeassp.2016.251.263

Submitted On: 8 January 2016 Published On: 29 February 2016

How to Cite: Jaber, A. A. & Bicker, R. (2016). Industrial Robot Fault Detection Based on Statistical Control Chart. American Journal of Engineering and Applied Sciences, 9(2), 251-263. https://doi.org/10.3844/ajeassp.2016.251.263

Abstract

Industrial robots have long been used in production systems in order to improve productivity, quality and safety in automated manufacturing processes. There are significant implications for operator safety in the event of a robot malfunction or failure and an unforeseen robot stoppage due to different reasons has the potential to cause an interruption in the entire production line, resulting in economic and production losses. In this research a fault detection system based on statistical control chart has been designed. An experimental investigation was accomplished using the PUMA 560 robot. Vibration signals are captured from the robot when it executes a repetitive task and then some statistical features are extracted from the signals, by utilising a developed data acquisition system based on National instruments hardware and software. The extracted vibration features, which are related to the robot healthy and faulty states, have subsequently been used for building and testing a statistical control chart. The chart has been validated using part of the measured data set, not used within the design stage, which represents the robot operating conditions. Validation results indicate the successful detection of faults at the early stages using the key extracted parameters.

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Keywords

  • Condition Monitoring
  • Fault Detection and Diagnosis
  • Statistical Control Chart
  • Industrial Robot
  • Backlash