Weiheng Engineering · Version 1.0 · November 3, 2026
Robot Joint NVH Measurement Method Passport
Name the output, operating state, fixture, sensor geometry, rotational reference, timebase and processing version before comparing NVH. An observed peak is not a gear, bearing, motor or control diagnosis.
Measurement passport
| Control | Required declaration | Project entry / evidence |
|---|---|---|
| Output | Housing vibration, sound pressure, order map, spectrum, time event or structural response; include units and statistic | |
| DUT and fixture | Included components, mounting, sensor location/axis, microphone geometry, support, external load and cable state | |
| Operating state | Direction, speed/trajectory, acceleration, load, inertia, position, reversal, controller/brake, thermal and lubricant state | |
| Reference and timebase | Encoder/tach source and plane, pulses/angle interpretation, clock, trigger, synchronization and discontinuity handling | |
| Acquisition | Sensor IDs, ranges, sensitivity, mounting, sample rate, anti-aliasing, clipping, duration and raw retention | |
| Processing | Windows, overlap, averaging, filtering, detrending, resampling, order resolution and software version | |
| Validity | Background/fixture checks, state tolerance, invalid interval, repeat/retest and comparison-variable rule | |
| Acceptance | Metric, location/axis, state, statistic, reference/tolerance source, variation/uncertainty and decision rule |
Root-cause stop boundary
| Observation | Allowed conclusion | Additional evidence before causal assignment |
|---|---|---|
| Peak or order | Report correlation and operating state | Controlled speed/load/direction changes, verified kinematics and additional sensor planes |
| Before/after change | Report bounded difference | Comparable fixture, thermal/controller state, processing plus inspection or isolation evidence |
| Invalid data | Retain and flag | Recorded reason, correction, linked retest and original evidence preservation |
Scope limit: This passport makes no Weiheng noise, vibration, bandwidth, sampling, diagnostic, life or universal acceptance claim.
Technical reviewer: Julia — Robot Motor Test Systems · Correction path · Related guide