A method and an arrangement for simulating the motion of a rotatable body in a simulation computer using a brake test bench, which has an engine, a real rotatable body representing the simulated rotatable body and a brake. The method includes the method steps of: specifying a target speed, applying this target speed to the engine, rotating the real rotatable body, specifying a braking value, controlling the brake on the basis of the specified braking value, measuring the actual torque and the actual speed of the real rotatable body, determining whether the actual speed exceeds a predetermined limit speed, and simulating the motion of the rotatable body on the basis of a torque of the simulated rotatable body. In this way, a possibility for simulating the motion of a rotatable body is provided, which provides at least approximately correct results even for low speeds of the rotatable body.

A wheel load assembly (5) for a dynamometer test bench (1) comprises —a support structure (17) which can be assembled on a base (12), —a vertical load device (18) having a first application bracket (19) which is rigidly connectable to a bearing body (96), which in turn is couplable to the wheel suspension part (3), a first reaction support (20) connected to the support structure (17), a first force transmission connector (21) connected between the first reaction support (20) and the first application bracket (19), as well as a first load apparatus (22) operatively connected to the first force transmission connector (21) to load the first force transmission connector (21) in a first vertical load direction (23), —a longitudinal load device (24) having a second application bracket (25) which is rigidly connectable to the bearing body (96), which in turn is couplable to the wheel suspension part (3), a second reaction support (26) connected to the support structure (17), a second force transmission connector (27) connected between the second reaction support (26) and the second application bracket (25), as well as a second load apparatus (28) operatively connected to the second force transmission connector (27) to load the second force transmission connector (27) in a second longitudinal load direction (29) transverse to the first vertical load direction (23) and to a wheel rotation axis (40) of the wheel suspension part (3), —a lateral load device (30) having a third application bracket (31) which is rigidly connectable to the bearing body (96), which in turn is couplable to the wheel suspension part (3), a third reaction support (32) connected to the support structure (17), a third force transmission connector (33) connected between the third reaction support (32) and the third application bracket (31), as well as a third load apparatus (34) to load the third force transmission connector (33) in a third lateral load direction (35) parallel to the wheel rotation axis (40) and transverse to the first vertical load direction (23) and to the second longitudinal load direction (29), in which the vertical, longitudinal, and lateral load devices comprise respective adjustment devices for adjusting the position of the application points of the vertical, longitudinal, and lateral forces.

A wheel load assembly (5) for a dynamometer test bench (1) comprises —a support structure (17) which can be assembled on a base (12), —a vertical load device (18) having a first application bracket (19) which is rigidly connectable to a bearing body (96), which in turn is couplable to the wheel suspension part (3), a first reaction support (20) connected to the support structure (17), a first force transmission connector (21) connected between the first reaction support (20) and the first application bracket (19), as well as a first load apparatus (22) operatively connected to the first force transmission connector (21) to load the first force transmission connector (21) in a first vertical load direction (23), —a longitudinal load device (24) having a second application bracket (25) which is rigidly connectable to the bearing body (96), which in turn is couplable to the wheel suspension part (3), a second reaction support (26) connected to the support structure (17), a second force transmission connector (27) connected between the second reaction support (26) and the second application bracket (25), as well as a second load apparatus (28) operatively connected to the second force transmission connector (27) to load the second force transmission connector (27) in a second longitudinal load direction (29) transverse to the first vertical load direction (23) and to a wheel rotation axis (40) of the wheel suspension part (3), —a lateral load device (30) having a third application bracket (31) which is rigidly connectable to the bearing body (96), which in turn is couplable to the wheel suspension part (3), a third reaction support (32) connected to the support structure (17), a third force transmission connector (33) connected between the third reaction support (32) and the third application bracket (31), as well as a third load apparatus (34) to load the third force transmission connector (33) in a third lateral load direction (35) parallel to the wheel rotation axis (40) and transverse to the first vertical load direction (23) and to the second longitudinal load direction (29), in which the vertical, longitudinal, and lateral load devices comprise respective adjustment devices for adjusting the position of the application points of the vertical, longitudinal, and lateral forces.

A method, a robot, and a robot controller for automatically scheduling the timing of a plurality of brake tests, that succeed one another at time intervals, at a plurality of brakes of a robot arm equipped with a plurality of joints and a plurality of links connecting the joints to one another and is connected to a robot controller which is designed and configured to control the joints and the brakes, in order to move the robot arm. At least one individual parameter is configured for each of the brakes. A brake test method associated with the robot arm is automatically initialized, and the initialized brake test method is automatically carried out in accordance with the configured parameters.

A method, a robot, and a robot controller for automatically scheduling the timing of a plurality of brake tests, that succeed one another at time intervals, at a plurality of brakes of a robot arm equipped with a plurality of joints and a plurality of links connecting the joints to one another and is connected to a robot controller which is designed and configured to control the joints and the brakes, in order to move the robot arm. At least one individual parameter is configured for each of the brakes. A brake test method associated with the robot arm is automatically initialized, and the initialized brake test method is automatically carried out in accordance with the configured parameters.

A method, a robot, and a computer program product for detecting and evaluating a friction status in at least one joint of a robotic arm, wherein, within the scope of a brake test program, at least one motor of a plurality of electric motors is driven automatically in a first rotational direction, wherein a detection of a first motor torque in the driven motor takes place during its rotation in the first rotational direction. The at least one motor is then driven in a second rotational direction opposite the first rotational direction, wherein a detection of a second motor torque in the driven motor takes place during its rotation in the second rotational direction. An automatic evaluation of the first motor torque and the second motor torque takes place in order to obtain the friction torque of the joint associated with the driven motor.

A method, a robot, and a computer program product for detecting and evaluating a friction status in at least one joint of a robotic arm, wherein, within the scope of a brake test program, at least one motor of a plurality of electric motors is driven automatically in a first rotational direction, wherein a detection of a first motor torque in the driven motor takes place during its rotation in the first rotational direction. The at least one motor is then driven in a second rotational direction opposite the first rotational direction, wherein a detection of a second motor torque in the driven motor takes place during its rotation in the second rotational direction. An automatic evaluation of the first motor torque and the second motor torque takes place in order to obtain the friction torque of the joint associated with the driven motor.

A brake test stand includes at least one driving motor that is coupled, via at least one torque transmitting device to a load generator and at least one brake to be tested, wherein the driving motor provides the energy to be converted by the brake to be tested and the load generator accepts the energy provided by the driving motor at least prior to the brake test.

A brake test stand includes at least one driving motor that is coupled, via at least one torque transmitting device to a load generator and at least one brake to be tested, wherein the driving motor provides the energy to be converted by the brake to be tested and the load generator accepts the energy provided by the driving motor at least prior to the brake test.

Various machines, systems, and methods for generating calibration data for a sensorized brake pad are disclosed. In some embodiments, a system includes a fixture, a brake pad retainer, a pressure plate, an actuator and a controller. The actuator applies a pressure to the sensorized brake pad and signals from the pressure sensors are received. Calibration data is generated based on the signals received from the pressures sensors when the pressure is applied to the sensorized brake pad.