Effect of Sensor Type and Positioning on Features for Condition Monitoring of a Mechatronic System

In this paper, a methodology is described able to give general suggestions and guide lines in choosing the most suitable parameter, measuring strategy and the feature set for possible use in a condition monitoring procedure. The tests have been carried out on a mechatronic system in real scale, realizing a sinusoidal motion of its end effector. Internal sensors to the controller have been used (encoder and current sensors) and external to it (laser Doppler vibrometer and three-axis accelerometer). A kinematic and dynamic model of the mechanical linkage of the automated system allows the user to correlate the measurements and to compute the other quantities, even though of different type and/or measured in other point of the device. The most suitable quantities and features have been recognized with respect to the capability of identifying different operating statuses of the device, often independently on the measuring point, if the simulation model is used.