| Citation: | WANG Lin, GUO Yu. Dynamic modeling of IAS for outer raceway spalling in main bearings subjected to time-varying load[J]. Journal of Aerospace Power, 2026, 41（5）：20250213 doi: 10.13224/j.cnki.jasp.20250213
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In view of the problem of outer raceway spalling in the main bearing of industrial robot rotary vector (RV) reducers under time-varying load conditions, a dynamic model of outer raceway spalling under time-varying loads was proposed based on instantaneous angular speed (IAS). The time-varying loads generated during robotic arm motion and the influence of impact forces caused by outer raceway spalling on additional torque were considered. The Runge-Kutta numerical integration method was employed to solve the dynamic equations, and the correctness of the dynamic model was verified through comparative analysis of simulated and measured signals. The research showed that the disturbance waveform in IAS signals caused by faults was clearer under low-speed and heavy-load conditions. Additionally, the IAS-based method for estimating bearing spalling size was unaffected by speed fluctuations, making it more suitable for spalling size estimation under variable-speed conditions. The findings contributed to improving the dynamic theory of fault detection methods for main bearings in industrial robot joints based on IAS.
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