Tooth root crack detection of planet gear in industrial robot RV reducer

The windowed synchronous averaging (WSA) is widely utilized for planetary structures. However, it cannot be applied the fault detection of structure in industrial robot rotate vector (RV) reducer. usually works within a specified angle range, which causes RV reducer rotates incompletely. To address this issue, an compensation local fitting scheme proposed. detect localized planet gear reducer, observed vibration equi-angle resampled. And interference contained resampled constructed and removed according to strategy. residual data used construct synthetic gear. Then, feature can detected. Experiments on test rig under running conditions support effectiveness proposed positively.