High-Frequency Sensor Signals from a One-Year Long Accelerated Wear Test of a KUKA KR16 Industrial Robotic Arm

The data within this dataset was generated by a <b>KUKA KR16 L6</b> robot being monitored during an accelerated wear test (AWT) at the <b>Advanced Manufacturing Research Centre's</b> <b>(AMRC's) Integrated Manufacturing Group (IMG)</b> to help develop methods of wear and fault/anomaly detection. This includes data from retrofitted <b>accelerometers</b>, <b>current transducers</b> and <b>RTD</b> temperature sensors, stored in .zip files of <b>MATLAB structures</b>.The AWT consisted of joint 3 of the robot rotated in isolation back and forth at 100% speed and acceleration 24/7 for 13 months with maximum payload on the end effector and the supplementary payload. During the AWT, the robot suffered from a naturally occurring oil leak and a controlled set of crashes.Please see the '<i>README.txt'</i> file for further information on the dataset, and the '<i>Fingerprint routine.mp4'</i> file for an illustration of the routine undertaken by the robot.The work behind creating this dataset was presented at the IEEE CASE 2024 conference, Bari, Italy:<i>J. Moore and D. Sawyer, "Equipment Health Monitoring for Industrial Robotic Arms," 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), Bari, Italy, 2024, pp. 1853-1860, doi: 10.1109/CASE59546.2024.10711629.</i>

本数据集的数据由KUKA KR16 L6工业机器人在先进制造研究中心（Advanced Manufacturing Research Centre，AMRC）的集成制造小组（Integrated Manufacturing Group，IMG）开展的加速磨损试验（Accelerated Wear Test，AWT）中采集所得，旨在开发磨损与故障/异常检测方法。本次试验所用传感器包括加装的加速度计（accelerometers）、电流传感器（current transducers）以及热电阻温度传感器（RTD），相关数据以MATLAB结构体（MATLAB structures）的.zip压缩包格式存储。该加速磨损试验令机器人的第3关节以100%的速度与加速度单独往复旋转，全天不间断运行13个月，末端执行器搭载最大额定负载与附加负载。试验期间，机器人自然发生了机油泄漏故障，并完成了一组可控碰撞测试。如需了解该数据集的更多详细信息，请参阅README.txt文件；如需查看机器人执行的作业流程演示，请参阅Fingerprint routine.mp4文件。本数据集的构建相关研究已在意大利巴里举办的2024 IEEE第20届自动化科学与工程国际会议（CASE 2024）上发表：J. Moore与D. Sawyer，《工业机械臂设备健康监测》，2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)，意大利巴里，2024年，第1853-1860页，DOI: 10.1109/CASE59546.2024.10711629。

搜集汇总

背景与挑战

背景概述

该数据集包含KUKA KR16工业机器人在13个月加速磨损测试中生成的高频传感器信号，涵盖加速度计、电流和温度数据，用于开发磨损和故障检测方法。测试中机器人关节3在满负载下持续运行，并经历了自然漏油和受控碰撞事件，数据以MATLAB结构存储，可公开访问。