With the increase of service time, the rotation period of rotating machinery may become irregular, and the Ensemble Empirical Mode Decomposition (EEMD)can effectively reflect its periodic state. In order to accurately evaluate the working state of the Rotate Vector (RV) reducer, the torque transfer formula of the RV reducer is first derived to theoretically prove periodicity of torque transfer in normal operation. Then, EEMD is able to effectively reflect the characteristics of data periodicity. A fault diagnosis model based on EEMD-MPA-KELM was proposed, and a bearing experimental dataset from Xi‘an Jiaotong University was used to verify the performance of the model. In view of the characteristics of the industrial robot RV reducer fault was not obvious and the sample data is few, spectrum diagram was used to diagnose the fault from the RV reducer measured data. The EEMD decomposition was performed on the data measured by the RV reducer test platform to obtain several Intrinsic Mode Functions (IMF). After the overall average checking and optimization of each IMF, several groups of eigenvalues were obtained. The eigenvalues were input into the Kernel Extreme Learning Machine (KELM) optimized by the Marine Predators Algorithm (MPA), and the fault diagnosis model was established. Finally, compared with other models, the prediction results showed that the proposed model can judge the working state of RV reducer more effectively.

In order to solve the problem of predicting the residual life of mechanical products accurately based on small-sample data, this paper proposes a small-sample adaptive residual life prediction model of mechanical products based on feature matching preprocessor-LSTM. First, aiming at the problem of low accuracy of remaining life prediction for small samples of mechanical products caused by multiple time scales and multiple fault states, the failure time data and performance degradation data are fused, and the failure rate and standard deviation are used as the remaining life prediction criteria to intuitively reflect The possibility of failure of a component or system at a certain point in time. Considering the demand of adaptive small-sample residual life prediction data, this paper establishes the adaptive matching pre-processor model of life characteristics. On this basis, the LSTM neural network is used to establish a small-sample adaptive residual life prediction model. Then, the XJTU-SY bearing life data set and the test data of the small-sample life characteristics measured by the RV reducer are used as the research objects, and a small amount of the data set is randomly selected. The remaining life expectancy is predicted from the sample data and compared with its standard remaining life, respectively. The comparison results show that the overall prediction error is small. This study shows that the remaining life prediction model established can better predict the remaining life of mechanical product sub-sample data and provides a feasible method for predicting the remaining life of mechanical product sub-samples.

In order to accurately evaluate the working state of RV reducer, a fault identification method based on the fault identification model established by Self-Organizing Feature Map (SOM) Neural Network is proposed. Firstly, the data measured by the RV reducer test platform are analyzed by wavelet to obtain the wavelet coefficient. Then, combined with the efficiency data of RV reducer, the mean square frequency, center of gravity frequency and frequency variance of the two groups of data are calculated after Fourier transform and power spectrum analysis. After optimization, several eigenvalues are obtained. The eigenvalues are input into the competitive neural network and SOM neural network to establish the fault identification model. Finally, the results of the fault identification model established by the competitive neural network and SOM neural network are compared. The prediction results show that the fault identification model established by SOM neural network can effectively determine the working state of RV reducer.

When a traditional performance test device, the rotate vector (RV) reducer, is loading and unloading the reducer tested or running in different torque ranges, the coaxiality error generated by the transmission system has an important impact on the detection accuracy of a key performance parameter of the RV reducer, the hysteresis. In order to design a high-precision performance test device, a RV reducer coaxiality–geometric hysteresis model is proposed. First of all, the static simulation analysis of the transmission system of the traditional performance test device in different torque ranges is carried out using Ansys software, and the corresponding coaxiality error is obtained. Secondly, the RV reducer coaxiality–geometric hysteresis model is established by means of geometric analysis, and combined with Adams dynamics simulation software, the dynamic simulation analysis is carried out under the condition that the coaxiality of the model transmission system is in different error ranges and has no load. When the coaxiality is within the allowable error range, the hysteresis value is 0.5467 arcmin, and the result shows that the accuracy of the model is verified. At the same time, when the coaxiality exceeds the allowable range of error, it will have a great impact on the hysteresis. This result has certain theoretical significance and practical value for the analysis of the influence of the coaxiality error of the high-precision RV reducer performance detection device and the design of the adjustment mechanism.

Aiming at the problem that the traditional reliability models of mechanical products are used to predict the reliability of hydraulic automatic transmission and the expected result is relatively large, firstly, the empirical distribution model line is used to statistically analyze the failure distribution law of the hydraulic automatic transmission; then, the Fourier transform is used to perform frequency domain analysis on experience distribution; on this basis, comprehensively consider the characteristics of experience distribution and frequency domain characteristics of experience distribution, constructs the reliability model of exponential decay oscillation distribution and the corresponding reliability, failure efficiency and average life calculation model; meanwhile, studies the influence of attenuation coefficient, oscillation amplitude, oscillation angle frequency, and other parameters on the probability distribution characteristics. On this basis, the established probability distribution models are adopted to fit the failure time data of hydraulic automatic gearbox carried by a forklift, and the fitting results are compared with exponential distribution models, three‐parameter Weibull models, and “bathtub curve” models. The comparing results show that the established exponential decayed oscillation distribution model can better describe the probability distribution characteristics of the fault‐free working time of automatic transmission, and the use of this model can obtain a smaller root mean square error. Simultaneously, the research conclusions of this paper can provide meaningful guidance and reference for the analysis of the life distribution model of mechanical products with exponentially attenuated oscillation probability density change law.