Weiheng Engineering · Version 1.0 · November 3, 2026
Robot Joint No-Load Torque and Friction Mapping Passport
“No load” means no intentional external process load at the declared output plane, not zero torque. Bearings, seals, reducer mesh, brake, controller, cable, fixture, gravity and lubricant effects remain visible.
Map definition
| Field | Required declaration | Project entry / evidence |
|---|---|---|
| Requested output | Breakaway, running torque, friction versus speed/position, periodic ripple or directional asymmetry | |
| DUT and plane | Included components, torque and speed/position planes, sign, ratio/conversion and fixture/tare boundary | |
| State | Powered/brake/control state, orientation, external/gravity load, thermal/lubricant state and assembly revision | |
| Map grid | Speed, position, direction, temperature, run order, dwell, cycles and excluded acceleration/reversal regions | |
| Calculation | Windows, mean/median/percentile/range/order component, filtering, detrending, alignment, averaging and tare | |
| Validity | Zero/range, calibration/verification, clipping, fixture characterization, invalid/retest and uncertainty treatment | |
| Evidence | Raw torque, position/speed, current/command, brake, temperatures, status/events and calculation version |
Scope limit: No Weiheng no-load torque, friction coefficient, range, accuracy, sampling rate or universal limit is asserted. A periodic component is not proof of gear damage.
Technical reviewer: Julia — Robot Motor Test Systems · Correction path · Related guide