Fault Diagnosis of RV Reducers Used in Industrial Robots Based on Vibration Analysis

Huanqing Han, Qirong Xu, Dongqin Li, Bing Li, Xiuquan Sun, Fengshou Gu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


RV reducer is a key component used in the joint of an industrial robot due to its high transmission ratio, high load-carrying capacity and smooth transmission. Condition monitoring allows the faults of RV reducer to be detected at an early stage and prevent it develops into a critical fault or complete failure, which cause massive losses of production. To fulfil early diagnostics, this paper built up an RV reducer test rig and investigated the diagnosis of abnormal engagement between sun gear and planet gear using vibration analysis. Firstly, a misalignment fault of input shaft and sun gear bearing clearance fault were carried out on the RV reducer test rig, then the vibration signals of the RV reducer were collected. Besides, through analysis of the vibration spectrum, the characteristic frequencies such as gear meshing frequency and shaft rotating frequency can be clearly identified in the vibration spectrum. A statistical analysis of RMS values was applied on the specific frequency band of gear characteristic frequencies. The results show that the RMS value increased with the increase of the degree of misalignment due to the increased periodical mesh interfere and decreased with the increase of the sun gear bearing clearance due to the optimized meshing interference. This phenomenon becomes obvious in high-speed operations. These results are quite beneficial to study the feature extraction for fault diagnosis of RV reducer used in robot joints.

Original languageEnglish
Title of host publicationProceedings of TEPEN 2022
Subtitle of host publicationEfficiency and Performance Engineering Network
EditorsHao Zhang, Yongjian Ji, Tongtong Liu, Xiuquan Sun, Andrew David Ball
PublisherSpringer, Cham
Number of pages12
ISBN (Electronic)9783031261930
ISBN (Print)9783031261923, 9783031261954
Publication statusPublished - 4 Mar 2023
EventInternational Conference of The Efficiency and Performance Engineering Network 2022 - Baotou, China
Duration: 18 Aug 202221 Aug 2022

Publication series

NameMechanisms and Machine Science
Volume129 MMS
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


ConferenceInternational Conference of The Efficiency and Performance Engineering Network 2022
Abbreviated titleTEPEN 2022
Internet address


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