Research on Fault Diagnosis Technology of Industrial Robot Operation Based on Deep Belief Network

Table 1

Several common failure forms, failure characterizations, and failure causes of industrial robots.

Failure form	Fault characterization	Cause of issue
Power system failure	The robot cannot be powered on	Power circuit failure
	Robot cannot move	Power chip failure
	The host computer restarts	Short circuited
Control system failure	Controller cannot be powered	Damaged control chip
	The control port is unstable	Control chip soldering
		Controller failure
	Robot out of control	Control program run away
		Damaged control chip
	Motor failure	Motor stuck
		Driver chip failure
		Motor overcurrent protection
Drive joint failure	Bearing failure	Bearing wear
		Bearing fracture
	Reducer failure	Damaged reducer
		Coupling loose