Picture of Open Access badges

Discover Open Access research at Strathprints

It's International Open Access Week, 24-30 October 2016. This year's theme is "Open in Action" and is all about taking meaningful steps towards opening up research and scholarship. The Strathprints institutional repository is a digital archive of University of Strathclyde research outputs. Explore recent world leading Open Access research content by University of Strathclyde researchers and see how Strathclyde researchers are committing to putting "Open in Action".


Image: h_pampel, CC-BY

Nonlinear dynamics tools for the motion analysis and condition monitoring of robot joints

Trendafilova, I. and Van Brussel, H.H. (2001) Nonlinear dynamics tools for the motion analysis and condition monitoring of robot joints. Mechanical Systems and Signal Processing, 15 (6). pp. 1141-1164. ISSN 0888-3270

Full text not available in this repository. (Request a copy from the Strathclyde author)


Time series from non-damaged and three types of damaged robot joints are considered and analysed from the viewpoint of non-linear dynamics. The embedding spaces for the four types of signals are recovered. The application of surrogate data tests is used to prove the presence of non-linearities in the joints. The results suggest a rise in unstable behaviour due to the introduction of backlash in robot joints. The chaotic behaviour gets stronger with the increase of the backlash extent. This is confirmed by the increase of the embedding dimension as well as by the increase of the Lyapunov exponents and the correlation dimension with the backlash increase. A straightforward method for condition monitoring using non-linear dynamics characteristics, based on a classification procedure, is suggested.