Mechanical condition monitoring and diagnosis technology is analyzed

and acoustic resonance method is finally selected to detect the excitation and vibration characteristics of the manipulator. Based on the acoustic resonance detection technology

a novel active excitation tactile sensor structure and its signal conditioning circuit are designed and installed on the manipulator for experiment. The LabVIEW software is used to collect the acoustic resonance signal

and the repeatability and stability of the acoustic resonance test system are verified and analyzed in range of frequency domain

and characteristic parameters of vibration of active excitation tactile sensing robot system while capturing different objects and in different state is extracted.