System and method for testing linkages

摘要

A system and method for testing at least one joint in a linkage includes a platform system, a torque system, an articulation assembly and a fault detection system. The platform system receives a first shaft connected to a first joint in the linkage and the torque system applies torque to the first joint without substantially rotating the first shaft or joint, a second shaft connected to a second joint in the linkage or the second joint. The articulation assembly receives the second shaft and moves the second joint in a substantially circular path without substantially rotating the first shaft or joint and the second shaft or joint. The fault detection system determines the condition of the linkage based upon detected signals emitted from the linkage while the first joint is torqued and the second joint is moved.