Fault diagnosis model of multi-axis industrial robot based on triplet network

Abstract

Fault diagnosis is an important link in intelligent development of industrial robots. Aiming at the problem of weak fault diagnosis performance caused by insufficient training samples, a fault diagnosis model based on triplet network is proposed. Firstly, we combine the multiscale convolutional neural network (MSCNN) with channel attention networks (squeeze-and-excitation network, SENet), and use it to construct a triple sub-network structure MS-SECNN, which can adaptively extract features from the original fault signal. Then, the feature similarity is calculated by triplet loss in the low dimensional space to realize the fault classification task. The experiments are based on the real industrial robot operation data set. In this model, we use Few-shot learning strategy to test the diagnostic performance under small samples, and compare it with WDCNN, FDCNN and MSCNN models. Experimental results show that the proposed model has more effective fault classification ability under small samples. In addition, when the training sample size is 1400, the average accuracy of MS-SECNN reaches 99.21%.