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

Figure 18

The amplitude of the torque ripple components at fr, 2fr, and 4fr for alignment, 0.125° angular misalignment, 0.25° angular misalignment, 0.375° angular misalignment, 0.5° angular misalignment, 0.625° angular misalignment, 0.75° angular misalignment, 0.875° angular misalignment, and 1° angular 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)