Experimental Determination of Kinematic Error for Actuators with Roller-Screw Mechanism

The article is devoted to the experimental estimation of the kinematic error of the translation actuator, made on the basis of the RSM and the planetary reducer. During the evaluation, the kinematic error of the mechanism and actuator was measured at a special stand, harmonic analysis of the kinematic error was performed, and parameters characterizing the accuracy class of the mechanism were determined. The field of scattering of the kinematic error ±3.735 \pmbμ m and the nominal displacement of the actuator rod 1 mm per day are obtained. This allows the actuator to be used without position feedback. As a result of the harmonic analysis, it is determined that the largest amplitudes have oscillations of the gears of the intermediate gearbox associated with their radial runout. For a PBM of 21.6 ×0.1, the accuracy class KL10 (or AI) is obtained. This confirms the validity of using the actuator of translational movement in the orthopedic apparatus.