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Vibration Diagnosis and Optimization of Industrial Robot Based on TPA and EMD Methods

Xiaoping Xie*, Shijie Cheng, Xuyang Li

Hunan University, College of Mechanical and Vehicle Engineering, Changsha, 410082, China

* Corresponding Author: Xiaoping Xie. Email:

(This article belongs to this Special Issue: Vibration Control and Utilization)

Computer Modeling in Engineering & Sciences 2023, 135(3), 2425-2448.


This paper proposed method that combined transmission path analysis (TPA) and empirical mode decomposition (EMD) envelope analysis to solve the vibration problem of an industrial robot. Firstly, the deconvolution filter time-domain TPA method is proposed to trace the source along with the time variation. Secondly, the TPA method positioned the main source of robotic vibration under typically different working conditions. Thirdly, independent vibration testing of the Rotate Vector (RV) reducer is conducted under different loads and speeds, which are key components of an industrial robot. The method of EMD and Hilbert envelope was used to extract the fault feature of the RV reducer. Finally, the structural problems of the RV reducer were summarized. The vibration performance of industrial robots was improved through the RV reducer optimization. From the whole industrial robot to the local RV Reducer and then to the internal microstructure of the reducer, the source of defect information is traced accurately. Experimental results showed that the TPA and EMD hybrid methods were more accurate and efficient than traditional time-frequency analysis methods to solve industrial robot vibration problems.


Cite This Article

Xie, X., Cheng, S., Li, X. (2023). Vibration Diagnosis and Optimization of Industrial Robot Based on TPA and EMD Methods. CMES-Computer Modeling in Engineering & Sciences, 135(3), 2425–2448.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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