Method and tool for assessing the residual life of the planetary electric actuator of the exoskelet

Abstract

This article proposes a method and tool for assessing the quality of assembly and technical condition of the electric drive of the exoskeleton, on the basis of its moment of starting as one of the main indicators of the level of degradation of its components. The existing methods are based on the determination of the moment of starting with the help of additional devices that require the participation of the operator in the measurement process, which increases its time and labor costs and makes it difficult to automate. In contrast to the existing methods and tools, the proposed in this article method and hardware-software complex, allow you to automate the measurement process, do not require expensive equipment and can perform monitoring of the technical condition without dismantling the drive from the exoskeleton. In the experimental part of this article, the proposed method and tool were evaluated on the basis of electric drives with reducers for Electromechanical orthosis of the lower limb exoskeleton. In the course of experimental studies, for the first time, the dependences of the residual life and the efficiency of the electric drive on the moment of moving the input shaft of the gearbox were determined. The results obtained allow us to conditionally determine the level of resource development and the efficiency of the electric drive, based on the measurement of its starting moment, which allows us to carry out maintenance of gearboxes and electric drives according to their actual condition, adjust their maintenance schedule and replacement time, and also increases the reliability of the product in use.