Time to failure analysis of robotic arm cabling
AssigneeFanuc Corporation
InventorsYoshihiro Tanno, Akihiro Oikawa, Toshinori Ohashi
Life of this patent
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Abstract
A life prediction apparatus is configured to accurately predict a life of a cable wired at a joint part of a robot. The life prediction apparatus includes a fatigue-level estimation unit for estimating a fatigue level of the cable based on encoder information of an actuator which moves the joint part of the robot, and a life prediction unit for predicting the life of the cable based on a fatigue level of the cable estimated by the fatigue-level estimation unit and an allowable value of the cable.
Claims5
A life prediction apparatus which predicts a life of a cable wired over at least one joint part of a robot, the life prediction apparatus comprising:
- a processor configured to:
- control a motor to move a joint of a robot,
- determine a plurality of angular positions of the motor indicated by an encoder at a plurality of time points,
- determine a plurality of predetermined position weighting factors corresponding to the determined angular positions of the motor, the predetermined position weighting factors indicate an amount of twisting or bending of the cable at the determined angular positions of the motor,
- determine a plurality of angular displacements indicating a difference in the angular positions between the time points, and
- estimate a fatigue level of the cable by accumulating the angular displacements and the corresponding position weighting factors over a time period.
Dependencies are inferred from the claim text.