Fault Diagnosis of the Tooth Belt Transmission of Cartesian Robot

Condition monitoring of any electromechanical equipment is an essential tool to extend lifetime of the device and provide reliable work of the whole system. Due to friction mechanical subsystem is usually the weakest part of electromechanical equipment that. Early-stage diagnosis of that type of faults may save the equipment from serious failures. In this paper the model of tooth belt transmission of the Hirata cartesian robot is presented. Transmission operational principles and mathematical model reviewed from the point of fault diagnosis of the system. Importance of fault diagnosis of the transmission and diagnostics methodology is highlighted. Applied fault diagnostic method is based on Fast Fourier Transform (FFT) method. The simulation results of faulty tooth belt transmission are analyzed.