보행시험 데이터를 활용한 군사용 착용형 로봇 감속기 수명주기 산출
Estimating the Lifetimes of Harmonic Drives in Military Wearable Robots Through Walking Test Data Analysis
- Resource Type
- Article
- Authors
- 이혜원; 현도경; 이동규; 김재황
- Source
- 신뢰성 응용연구, 23(2), pp.186-194 Jun, 2023
- Subject
- 산업공학
- Language
- 한국어
- ISSN
- 2733-8320
1738-9895
Purpose: This study aims to estimate the operational lifetime of harmonic drives used in military wearable robots based on the analysis of walking test data. Methods: The output torque and rotational velocity were extracted from walking tests, and motion pattern analysis was conducted on the harmonic drives of two joints, A and B. The lifetime of each joint and the walking speed were calculated using motion profile factors derived from motion pattern analysis. Results: The results show that the harmonic drive of joint B meets the target lifetime requirement, while that of joint A partially meets the target lifetime requirement depending on the walking speed. Conclusion: The lifetime calculation process employed in this study enables the accurate and rapid estimation of the operational lifetime of harmonic drives without performing life cycle tests. This process can be applied to determine the lifetime of various harmonic drives in wearable robots.