Diagnosis of the Misaligned Faults of the Vertical Test Instrument of High-Precision Industrial Robot Reducer

Figure 16

The amplitude of the torque ripple component at fr, 2fr, and 4fr for alignment, 0.125 mm radial misalignment, 0.25 mm radial misalignment, 0.375 mm radial misalignment, 0.5 mm radial misalignment, 0.625 mm radial misalignment, 0.75 mm radial misalignment, 0.875 mm radial misalignment, and 1.0 mm radial misalignment under different rotation speeds. Red: fr; blue: 2fr; green: 4fr. (a) 200 rpm; (b) 400 rpm; (c) 600 rpm; (d) 800 rpm.

(a)

(b)

(c)

(d)