Influence of Different Tooth Belt Transmission Faults on the Work of a Cartesian Robot

Autsou, Siarhei; Vaimann, Toomas; Rassõlkin, Anton; Kudelina, Karolina; Asad, Bilal

doi:10.1109/me54704.2022.9982815

Cited by 3 publications

(5 citation statements)

References 15 publications

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“…This type of robot is used for any task, like moving details in the technological lines, working with dangerous materials, and accurate processes. Cartesian robots have different structures for any purpose [18]. The sketches of the main types of it are presented in Figure 1.…”

Section: Cartesian Robot Descriptionmentioning

confidence: 99%

“…On the other hand, misalignment by the horizontal axis leads to low tension of the timing belt; however, in this case, the belt may fly off the pulley, and the robot will stop without any damage. Low tension works like a damper in the case of the HCR gearbox [18,25]. An example of displaced pulleys and, consequently, overtension of the belt is presented in Figure 7.…”

Section: Gearbox Faultsmentioning

confidence: 99%

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Condition Monitoring of a Cartesian Robot with a Mechanically Damaged Gear to Create a Fuzzy Logic Control and Diagnosis Algorithm

Autsou,

Kudelina,

Vaimann

et al. 2024

Applied Sciences

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The detection of faults during an operational process constitutes a crucial objective within the framework of developing a control system to monitor the structure of industrial mechanisms. Even minor faults can give rise to significant consequences that require swift resolution. This research investigates the impact of overtension in the tooth belt transmission and heating of the screw transmission worm on the vibration signals in a robotic system. Utilizing FFT techniques, distinct frequency characteristics associated with different faults were identified. Overtension in the tooth belt transmission caused localized oscillations, addressed by adjusting the acceleration and deceleration speeds. Heating of the screw transmission worm led to widespread disturbances affecting servo stress and positioning accuracy. A fuzzy logic algorithm based on spectral analysis was proposed for adaptive control, considering the vibration’s frequency and amplitude. The simulation results demonstrated effective damage mitigation, reducing wear on the mechanical parts. The diagnostic approach, relying on limited data, emphasized the feasibility of identifying transmission damage, thereby minimizing maintenance costs. This research contributes a comprehensive and adaptive solution for robotic system diagnostics and control, with the proposed fuzzy logic algorithm showing promise for efficient signal processing and machine learning applications.

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Section: Cartesian Robot Descriptionmentioning

confidence: 99%

Section: Gearbox Faultsmentioning

confidence: 99%

Condition Monitoring of a Cartesian Robot with a Mechanically Damaged Gear to Create a Fuzzy Logic Control and Diagnosis Algorithm

Autsou,

Kudelina,

Vaimann

et al. 2024

Applied Sciences

Self Cite

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Section: Servomotor Typesmentioning

confidence: 99%

“…For example, in Figure 2, a servomotor used in a Hirata Cartesian robot (Hirata Corporation, Kumamoto, Japan) is depicted. It is a synchronous alternating current motor with the function of maintaining a constant rotational speed, as it is used to move the robot axis along the working area [47,48]. Motors with the function of maintaining a constant rotational speed are also used in laboratory setups of a digital twin of a wind generator [49], as well as in diagnosing damage to bearings [50,51] depicted in Figure 3a,b.…”

Section: Servomotor Typesmentioning

confidence: 99%

Principles and Methods of Servomotor Control: Comparative Analysis and Applications

Autsou,

Kudelina,

Vaimann

et al. 2024

Applied Sciences

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Servomotors have found widespread application in many areas, such as manufacturing, robotics, automation, and others. Thus, the control of servomotors is divided into various principles and methods, leading to a high diversity of control systems. This article provides an overview of types of servomotors and their basic principles and control methods. Principles such as digital signal processing, feedback control principle, field-oriented control, and integration with Industry 4.0 are discussed. Based on these control principles, the article presents popular control methods: PWM control, current control, two-loop control, fuzzy-logic control, and programmable control. The article concludes with a comparison of the presented methods on several criteria, and as an example, it includes the results of modeling a servomotor using the fuzzy-logic control method.

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“…The most representative applications involve pick and place, assembly operations, machine tool operation, and arc welding, while they cannot be used in washing operations, as they are not waterproof. A key feature is adaptability, in that the strokes and dimensions of each axis can be customized to perfectly suit the application, with the velocities and payload being independent of each other [ 37 ].…”

Section: Roboticsmentioning

confidence: 99%

Robotics and Aseptic Processing in View of Regulatory Requirements

Tanzini,

Ruggeri,

Bianchi

et al. 2023

Pharmaceutics

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Several nanomedicine based medicinal products recently reached the market thanks to the drive of the COVID-19 pandemic. These products are characterized by criticality in scalability and reproducibility of the batches, and the manufacturing processes are now being pushed towards continuous production to face these challenges. Although the pharmaceutical industry, because of its deep regulation, is characterized by slow adoption of new technologies, recently, the European Medicines Agency (EMA) took the lead in pushing for process improvements using technologies already established in other manufacturing sectors. Foremost among these technologies, robotics is a technological driver, and its implementation in the pharma field should cause a big change, probably within the next 5 years. This paper aims at describing the regulation changes mainly in aseptic manufacturing and the use of robotics in the pharmaceutical environment to fulfill GMP (good manufacturing practice). Special attention is therefore paid at first to the regulatory aspect, explaining the reasons behind the current changes, and then to the use of robotics that will characterize the future of manufacturing especially in aseptic environments, moving from a clear overview of robotics to the use of automated systems to design more efficient processes, with reduced risk of contamination. This review should clarify the regulation and technological scenario and provide pharmaceutical technologists with basic knowledge in robotics and automation, as well as engineers with regulatory knowledge to define a common background and language, and enable the cultural shift of the pharmaceutical industry.

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Influence of Different Tooth Belt Transmission Faults on the Work of a Cartesian Robot

Cited by 3 publications

References 15 publications

Condition Monitoring of a Cartesian Robot with a Mechanically Damaged Gear to Create a Fuzzy Logic Control and Diagnosis Algorithm

Condition Monitoring of a Cartesian Robot with a Mechanically Damaged Gear to Create a Fuzzy Logic Control and Diagnosis Algorithm

Principles and Methods of Servomotor Control: Comparative Analysis and Applications

Robotics and Aseptic Processing in View of Regulatory Requirements

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