Application of the structural analysis on a three axis manipulator robot

This paper presents a three axis manipulator robot on which we apply the structural analysis for fault diagnosis purpose. Structural analysis offers the opportunity to transform an analytical model into a structural model, so we can describe it using an incidence matrix which represents all components of the system. From the structural graph obtained, we apply the matching algorithm to extract analytical redundancy relations gathered in a signature failures table. From this description, the aim of the method is to identifying the main variables which are influential and dependent to the evolution of the system. Also, this analysis allows to check the “detectability” and “localizability” properties.