机器人系统的故障预测技术研究

文章针对机器人系统维护特点,提出将故障预测与健康管理(PHM)技术应用到机器人系统的维护上。论述了PHM关键技术——故障预测技术的特点和研究内容。对故障预测技术进行分类和分析,总结出各种预测方法的特点。最后提出了基于统计过程控制(SPC)进行故障预测的方法,并阐述了进一步研究可能遇到的问题。

In allusion to characters of robot system maintenance,Prognostics and Health Manage-ment(PHM) technology is applied for robot system maintenance.The features and main research contents of prognostics methods,as the critical technology of PHM,have been briefed in this paper.Prognostics methods are classified and analyzed,then the features of each prognostics method are summarized.Finally,a prognostic method based on Statisti-cal Process Control is provided in this paper,and some key issues to do of prognostics are listed with the goal of farther research.

中国科学院知识创新工程重大项目(KGCX-SW-15)