Condition-Based Monitoring on High-Precision Gearbox for Robotic Applications

Table 3

Bearings’ defect frequencies.

Defect location	Repetition frequency
ACBB inner ring	0.15x
ACBB outer ring	0.135x
ACBB rolling element	0.11x
CRB inner ring	2.56x
CRB outer ring	1.88x
CRB rolling element	2.01x
TRB inner ring	2.36x
TRB outer ring	1.76x
TRB rolling element	1.82x