Condition monitoring of a friction drive system

Abstract

This paper presents an approach for condition monitoring of a friction drive system, based on a recently developed deterioration estimation approach which includes the mechanical device dynamics and the dynamics of the deterioration at the joint. In this work a fault detection and a fault estimation application are proposed. Here, a fault is considered as an abnormal condition of the joint, mainly linked to the quality of the materials. For these purposes, we assume the knowledge of the input current signal and angular-speed sensor information. An architecture for condition monitoring is illustrated with abrupt fault and incipient fault simulated scenarios.

Deterioration estimation for predicting and controlling RUL of a friction drive system

“…The deterioration is modeled here as a function of the energy losses (at the contact level) during the system operation and this explicit physics-based modeling of the deterioration permits the estimation of the deterioration using the measurements of physical variables. One of the difficulty within a PHM context comes from the fact that such a deterioration cannot be measured directly and has to be estimated on-line using external measurements only, [14,15]. To this aim, we propose a generic approach (i.e.…”

OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel

“…Similar to Ballbot, it is desired to operate only on a clean and dry surface. Besides, it suffers rapid tire wear [24]. A normal tire makes contact with the ground once every revolution.…”