Weiheng Engineering · Version 1.0 · November 3, 2026
Robot Joint Gear-Mesh Ripple Measurement Passport
Name the measurand and rotational reference first. A torque, speed, position, vibration, acoustic or current component remains an observation until verified kinematics and additional isolation evidence support causal assignment.
Measurement and processing record
| Field | Required declaration | Project entry / evidence |
|---|---|---|
| Measurand | Torque / speed / position error / vibration / sound pressure / electrical current; units, sensor and plane | |
| DUT and kinematics | Transmission architecture, included path, input/output planes, verified ratios/tooth data or neutral observed-component label | |
| Operating state | Direction, speed/ramp/trajectory, load/quadrant, control, fixture, thermal and lubrication state | |
| Reference and synchronization | Encoder/tach source and plane, direction, angle interpretation, clocks, trigger and dropped-sample handling | |
| Acquisition | Ranges, mounting, bandwidth, sample rate, anti-aliasing, clipping, duration and raw-data retention | |
| Processing | Segments, windows, overlap, frequency/order resolution, resampling, averaging, cycle alignment and software version | |
| Validity and change | Reference quality, speed tolerance, fixture/control effects, invalid/retest and hardware/software/method version link |
Interpretation stop rule
Do not infer tooth damage, wear, remaining life, efficiency, backlash, stiffness or acceptance failure from one peak. Root-cause work may require controlled direction/speed/load/state changes, additional sensor planes, fixture characterization, motor-only or reducer-only evidence, current/torque correlation and inspection.
Scope limit: No Weiheng bandwidth, sampling rate, ripple value, diagnostic accuracy, fault-detection capability or universal limit is asserted.
Technical reviewer: Julia — Robot Motor Test Systems · Correction path · Related guide