Maintenance Access & Service Strategy
Tool-less access to joints 4–7, service-replaceable harmonic drive cartridges, MTBF target 20 000 h, and on-board self-diagnostic telemetry.
Joints 4–7 are designed as line-replaceable units (LRUs) with a quick-release V-band clamp that frees the joint module from the link in under 90 s. Harmonic drive cartridges are pre-greased, sealed, and field-swappable at 10 000 h or upon flex-spline backlash exceeding 0.05°.
A continuous-monitoring service-data bus exports 142 telemetry channels (per-joint current, temperature, vibration RMS, encoder residual, fan tachometer) into a Prometheus endpoint sampled at 2 Hz. Engineering can pull rolling 30-day windows for trend analysis.
Annual preventive maintenance includes lens recalibration (Tsai-Lenz target), F/T sensor zero-drift check, brake torque test (≥ 14 N·m per joint), and full ISO 9283 repeatability re-qualification.
| Parameter | Value | Unit | Tolerance / Note |
|---|---|---|---|
| Joint LRU swap time | <90 | s | |
| Harmonic drive service interval | 10 000 | h | |
| Flex-spline backlash limit | 0.05 | ° | |
| Telemetry channels | 142 | Prometheus, 2 Hz | |
| MTBF target | 20 000 | h | |
| Annual PM duration | 4 | h | |
| Brake torque (min) | 14 | N·m |