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Key components of industrial robots are prone to early-stage performance degradation under complex operating conditions, characterized by strongly non-stationary responses and significant heterogeneity across sensing channels. Traditional diagnostic methods struggle with robust and interpretable fusion of multi-source information, limiting their practical deployment. This paper proposes a dual-channel intelligent diagnostic method for robotic transmission mechanisms, integrating physics-driven sensitivity weighting and residual uncertainty compensation (RUC). Specifically, vibration and torque signals, representing structural response and driving excitation respectively, are selected due to their distinct temporal scales and complementary physical characteristics. A three-layer mapping (fault type-dynamic response characteristic-sensing channel) is constructed to quantify channel dominance for different fault modes. Then, a multi-scale sensitivity evaluation mechanism based on signal-to-noise ratio (SNR), modulation index (MI), and kurtosis guides adaptive weight allocation, while the RUC strategy enhances the expression of features from weakly dominant channels, improving fusion stability. Finally, a physically interpretable and lightweight diagnostic framework is established. Experiments conducted on a public gearbox dataset validate that the proposed method provides superior diagnostic accuracy, interpretability, and deployment potential, demonstrating significant promise for physically consistent multi-source fusion diagnosis in robotic transmission systems.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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