System and method for testing linkages

• US 6,895,830 B2
• Filed: 04/04/2002
• Issued: 05/24/2005
• Est. Priority Date: 04/05/2001
• Status: Active Grant

• Current Assignee: Rochester Institute of Technology
• Original Assignee: Rochester Institute of Technology
• Inventors: Morris, William, Kacprzynski, Gregory J., Kochersberger, Kevin B., Eckler, Joshua R.
• Primary Examiner(s): NOLAND, THOMAS
• Application Number:
  US10/116,630
• Publication Number:
  US 20020171555A1
• Time in Patent Office: 1,146 Days
• Field of Search: 738/659, 73659-660, 738/01, 738/47, 735/87, 735/93, 73814-815, 738/653, 737/88, 738/41, 74D/IG.7, 340/679, 403/27
• US Class Current: 73/865.9
• CPC Class Codes: G01M 13/022 Power-transmitting couplings or clutches
• CPC Class Codes: G01M 13/025 Test-benches with rotational drive means and loading means; Load or drive simulation

Abstract

A system and method for testing at least one joint in a linkage includes a platform system, a torque system, an articulation assembly and a fault detection system. The platform system receives a first shaft connected to a first joint in the linkage and the torque system applies torque to the first joint without substantially rotating the first shaft or joint, a second shaft connected to a second joint in the linkage or the second joint. The articulation assembly receives the second shaft and moves the second joint in a substantially circular path without substantially rotating the first shaft or joint and the second shaft or joint. The fault detection system determines the condition of the linkage based upon detected signals emitted from the linkage while the first joint is torqued and the second joint is moved.

Claims

1. A system comprising:

a first mount that receives a first end of a linkage;

a torque system coupled to the first mount that applies torque to the first end of the linkage without substantially rotating the first end or a second end of the linkage;

an articulation assembly having a second mount that receives the second end of the linkage, the articulation assembly moving the second end along a substantially circular path without substantially rotating the first or second ends of the linkage;

a fault detection system that determines one or more conditions of the linkage based upon one or more detected signals emitted from the linkage while the first end is torqued and the second end is moved, and wherein the articulation assembly further comprises;

a motor;

one or more articulation shafts, at least one of the articulation shafts coupled to the motor, the motor rotating the articulation shafts;

one or more first articulation members, each first articulation member coupled to a first end of one of the articulation shafts, the first articulation members substantially aligned along a first member plane, the first articulation members being substantially symmetrical with respect to each other;

a second articulation member coupled at a first end to one of the first articulation members, coupled at a second end to another one of the first articulation members and coupled at a substantially center portion to the second mount, the second articulation member substantially aligned along a second member plane;

one or more torque balancing members having a substantially circular shape, each torque balancing member coupled to one of the articulation shafts at about a second end of each articulation shaft, each torque balancing member having a substantially same diameter with respect to each other; and

a flexible link that couples the torque balancing members together, the flexible link enabling the torque balancing members to rotate at a substantially same velocity, the torque balancing members and the flexible link substantially absorbing torque generated by the motor.

2. The system as set forth in claim 1 further comprising a base slideably seated on at least one guide track to enable the first mount to move towards or away from the first end of the linkage.

3. The system as set forth in claim 1 wherein the torque system further comprises:

a motor having a driving shaft;

a torquing shaft coupled to the first mount; and

a lever member coupled to the torquing shaft at one end and pivotally coupled to the driving shaft at another end, the motor having the driving shaft moving the driving shaft to move the torquing shaft in a first and second direction for generating the torque.

4. The system as set forth in claim 1 wherein the first articulation members each have one or more connection assemblies, at least one of the connection assemblies in each first articulation member coupling the first articulation member to one of the articulation shafts, and the at least one connection assembly or at least one other connection assembly in the first articulation member coupling the first articulation member to the second articulation member.

5. The system as set forth in claim 1 wherein the first articulation members each have one or more apertures, at least one of the apertures in each first articulation member receiving one of the articulation shafts, and the at least one aperture or at least one other aperture in the first articulation member receiving a connector coupled to the second articulation member.

6. The system as set forth in claim 1 wherein the articulation assembly further comprises:

one or more third articulation members, each third articulation member coupled to a second end of one of the articulation shafts, the third articulation members substantially aligned along a third member plane; and

a fourth articulation member coupled at a first end to one of the third articulation members and at a second end to another one of the third articulation members, the fourth articulation member substantially aligned along a second member plane, the fourth articulation member substantially absorbing torque generated by the motor.

7. The system as set forth in claim 6 wherein the first member plane is substantially perpendicular with respect to the third member plane, and the second member plane is substantially parallel with respect to a base surface of the articulation assembly.

8. The system as set forth in claim 1 wherein the articulation assembly further comprises a tensioning system that engages the flexible link to keep the flexible link substantially taut.

9. The system as set forth in claim 1 wherein each torque balancing member has one or more toothlike projections extending outwardly from an outer rim and the flexible link has one or more link portions pivotally coupled together, each link portion having at least one indentation that engages one of the toothlike projections on the torque balancing member during rotation.

10. The system as set forth in claim 1 wherein the fault detection system further comprises:

one or more signal sensors coupled to at least one joint in the linkage; and

a signal processing system that determines whether there is a defect in the joint based upon the detected signals.

11. The system as set forth in claim 10 wherein the signal sensors comprise an accelerometer or a microphone.

12. The system as set forth in claim 1 further comprising:

an enclosure base; and

an enclosure system having one or more enclosure covers substantially mounted on the enclosure base, at least one of the enclosure covers having a closed position substantially sealing the enclosure system, the at least one enclosure cover or at least one other enclosure cover having an open position substantially exposing the articulation assembly, the fault detection assembly, and the first and second ends of the linkage.

13. A system for testing a linkage for defects, the system comprising:

a first mount that receives a first end of a linkage;

a torque system coupled to the first mount that applies torque to the first end of the linkage without substantially rotating the first end or a second end of the linkage;

one or more first articulation members coupled to a drive mechanism, the first articulation members substantially aligned along a first member plane, the first articulation members being substantially symmetrical with respect to each other;

a second articulation member coupled at a first end to one of the first articulation members, coupled at a second end to another one of the first articulation members and coupled at a substantially center portion to a second mount that receives the second end of the linkage, the second articulation member substantially aligned along a second member plane, the drive mechanism operating to move the second end of the linkage along a substantially circular path without substantially rotating the first or second ends of the linkage;

a fault detection system that determines one or more conditions of the linkage based upon one or more detected signals emitted from the linkage while the first end is torqued and the second end is moved, and wherein the drive mechanism further comprises;

a motor;

one or more articulation shafts, at least one of the articulation shafts coupled to the motor, each articulation shaft coupled at a first end to one of the first articulation members, the motor rotating the articulation shafts;

one or more torque balancing members having a substantially circular shape, each torque balancing member coupled to one of the articulation shafts at about a second end of each articulation shaft, each torque balancing member having a substantially same diameter with respect to each other; and

a flexible link that couples the torque balancing members together, the flexible link enabling the torque balancing members to rotate at a substantially same velocity, the torque balancing members and the flexible link substantially absorbing torque generated by the motor.

14. The system as set forth in claim 13 wherein the first articulation members each have one or more connection assemblies, at least one of the connection assemblies in each first articulation member coupling the first articulation member to one of the articulation shafts, and the at least one connection assembly or at least one other connection assembly in the first articulation member coupling the first articulation member to the second articulation member.

15. The system as set forth in claim 13 wherein the first articulation members each have one or more apertures, at least one of the apertures in each first articulation member receiving one of the articulation shafts, and the at least one aperture or at least one other aperture in the first articulation member receiving a connector coupled to the second articulation member.

16. The system as set forth in claim 13 further comprising:

one or more third articulation members, each third articulation member coupled to a second end of one of the articulation shafts, the third articulation members substantially aligned along a third member plane; and

a fourth articulation member coupled at a first end to one of the third articulation members and at a second end to another one of the third articulation members, the fourth articulation member substantially aligned along the second member plane, the fourth articulation member substantially absorbing torque generated by the motor.

17. The system as set forth in claim 16 wherein the first member plane is substantially perpendicular with respect to the third member plane, and the second member plane is substantially parallel with respect to a base surface in the system.

18. The system as set forth in claim 13 wherein the articulation assembly further comprises a tensioning system that engages the flexible link to keep the flexible link substantially taut.

19. The system as set forth in claim 13 wherein each torque balancing member has one or more toothlike projections extending outwardly from an outer rim and the flexible link has one or more link portions pivotally coupled together, each link portion having at least one indentation that engages one of the toothlike projections on the torque balancing member during rotation.

20. The system as set forth in claim 13 further comprising a base slideably seated on at least one guide track to enable the first mount to move towards or away from the first end of the joint.

21. The system as set forth in claim 13 wherein the torque system further comprises:

a motor having a driving shaft;

a torquing shaft coupled to the first mount; and

a lever member coupled to the torquing shaft at one end and pivotally coupled to the driving shaft at another end, the motor having the driving shaft moving the driving shaft to move the torquing shaft in a first and second direction for generating the torque.

22. The system as set forth in claim 13 wherein the fault detection system further comprises:

one or more signal sensors coupled to at least one joint in the linkage; and

a signal processing system that determines whether there is a defect in the joint based upon the detected signals.

23. The system as set forth in claim 22 wherein the signal sensors comprise an accelerometer or a microphone.

24. The system as set forth in claim 13 further comprising:

an enclosure base; and

an enclosure system having one or more enclosure covers substantially mounted on the enclosure base, at least one of the enclosure covers having a closed position substantially sealing the enclosure system, the at least one enclosure cover or at least one other enclosure cover having an open position substantially exposing the articulation assembly, the fault detection assembly, and the first and second ends of the linkage.

25. A method comprising:

receiving a first end of a linkage at a first mount;

applying torque to the first end of the linkage without substantially rotating the first end or a second end of the linkage;

receiving the second end of the linkage at a second mount;

moving the second end along a substantially circular path about a first axis without substantially rotating the first or second ends of the linkage;

determining one or more conditions of the linkage based upon one or more detected signals emitted from the linkage while the first end is torqued and the second end is moved;

wherein the moving further comprises rotating one or more first articulation members that are substantially aligned along a first member plane, are substantially symmetrical with respect to each other and are coupled to a second articulation member that is coupled at a substantially center portion to the second mount and is substantially aligned along a second member plane; and

the method further comprising;

rotating one or more torque balancing members at a substantially same velocity, wherein the torque balancing members each have a substantially circular shape, are coupled to one of the articulation shafts at about a second end of each articulation shaft, have a substantially same diameter with respect to each other, and are coupled together by a flexible link to substantially absorb torque generated during rotation of the first articulation members.

26. The method as set forth in claim 25 wherein receiving the first end of the linkage further comprises moving the first mount towards or away from the first end of the joint.

27. The method as set forth in claim 25 wherein applying the torque further comprises turning the first end of the linkage back and forth between a first location and a second location about a second axis.

28. The method as set forth in claim 25 further comprising coupling each of the first articulation members to one of the articulation shafts at one or more connection assemblies in the first articulation member, and coupling the first articulation member to the second articulation member at the one or more connection assemblies or at one or more other connection assemblies to increase or decrease a circumference of the substantially circular path the second end of the linkage moves along or to change a location of the first axis the second end of the linkage moves about.

29. The method as set forth in claim 25 further comprising receiving one of the articulation shafts at one or more apertures formed in each of the first articulation members, and receiving a connector coupled to the second articulation member at the one or more apertures or at one or more other apertures in the first articulation member to increase or decrease a circumference of the substantially circular path the second end of the linkage moves along or to change a location of the first axis the second end of the linkage moves about.

30. The method as set forth in claim 25 further comprising rotating one or more third articulation members that are substantially aligned along a third member plane and are coupled to a fourth articulation member that is substantially aligned along the second member plane to substantially absorb torque generated during rotation of the first articulation members.

31. The method as set forth in claim 30 wherein the first member plane is substantially perpendicular with respect to the third member plane, and the second member plane is substantially parallel with respect to a base surface.

32. The method as set forth in claim 25 further comprising applying tension to the flexible link to keep the flexible link substantially taut.

33. The method as set forth in claim 25 further comprising detecting the signals emitted from the linkage using an accelerometer or a microphone coupled to at least one joint in the linkage.

34. The method as set forth in claim 25 further comprising substantially enclosing the first and second ends of the linkage to substantially prevent extraneous signals from interfering with the signals emitted from the linkage.

35. A method for testing a linkage for defects, the method comprising:

receiving a first end of a linkage at a first mount;

applying torque to the first end of the linkage without substantially rotating the first end or a second end of the linkage;

receiving the second end of the linkage at a second mount;

rotating one or more first articulation members that are substantially aligned along a first member plane, are substantially symmetrical with respect to each other and are coupled to a second articulation member that is coupled at a substantially center portion to the second mount and is substantially aligned along a second member plane to move the second end of the linkage along a substantially circular path about a first axis without substantially rotating the first or second ends of the linkage;

determining one or more conditions of the linkage based upon one or more detected signals emitted from the linkage while the first end is torqued and the second end is moved; and

rotating one or more torque balancing members at a substantially same velocity, wherein the torque balancing members each have a substantially circular shape, are coupled to one of the articulation shafts at about a second end of each articulation shaft, have a substantially same diameter with respect to each other, and are coupled together by a flexible link to substantially absorb torque generated during rotation of the first articulation members.

36. The method as set forth in claim 35 further comprising coupling each of the first articulation members to one of one or more articulation shafts at one or more connection assemblies in the first articulation member, and coupling the first articulation member to the second articulation member at the one or more connection assemblies or at one or more other connection assemblies to increase or decrease a circumference of the substantially circular path the second end of the linkage moves along or to change a location of the first axis the second end of the linkage moves about.

37. The method as set forth in claim 35 further comprising receiving one of one or more articulation shafts at one or more apertures formed in each of the first articulation members, and receiving a connector coupled to the second articulation member at the one or more apertures or at one or more other apertures in the first articulation member to increase or decrease a circumference of the substantially circular path the second end of the linkage moves along or to change a location of the first axis the second end of the linkage moves about.

38. The method as set forth in claim 35 further comprising rotating one or more third articulation members that are substantially aligned along a third member plane and are coupled to a fourth articulation member that is substantially aligned along the second member plane to substantially absorb torque generated during rotation of the first articulation members.

39. The method as set forth in claim 38 wherein the first member plane is substantially perpendicular with respect to the third member plane, and the second member plane is substantially parallel with respect to a base surface.

40. The method as set forth in claim 35 further comprising applying tension to the flexible link to keep the flexible link substantially taut.

41. The method as set forth in claim 35 wherein receiving the first end of the linkage further comprises moving the first mount towards or away from the first end of the joint.

42. The method as set forth in claim 35 wherein applying the torque further comprises turning the first end of the linkage back and forth between a first location and a second location about a second axis.

43. The method as set forth in claim 35 further comprising detecting the signals emitted from the linkage using an accelerometer or a microphone coupled to at least one joint in the linkage.

44. The method as set forth in claim 35 further comprising substantially enclosing the first and second ends of the linkage to substantially prevent extraneous signals from interfering with the signals emitted from the linkage.