I am currently working on an exoskeleton. The exoskeleton is going to help kids with cerebral palsy learn to walk 4 years sooner than traditional therapy. Currently we are using 2 Ame 226-3003 with the roboclaw 2x60A motor controller controlled by an Arduino mega. The Ame 226-3003 motors are not powerful enough. In addition the Ame 226-3003 has a worm gear thus the motor cannot be moved when the motor is turned off. Our position feedback system is a gear attached to the shaft of the motor which spins a gear on a potentiometer. The two gears have a 1:1 ratio.
In order to better understand the project, please see the video: https://www.youtube.com/watch?v=NL_aCwJSRiE&feature=youtu.be
The Ame 226-3003 catalog page: http://www.amequipment.com/wp-content/uploads/2013/02/801-1071-web.pdf
We need a new drive system:
- more powerful than the Ame 226-3003 motor. We do not have an exact torque spec but we believe any drive system that is 70-100% more powerful than the Ame 226 - 3003.
- We like the rpm range of the Ame 226-3003.
- The drive system must be able to spin freely when the motor is not in use.
- We need a way to get position feedback, the potentiometer system we are using seems to work, however it adds to much extra hardware(more stuff to break), (ie) the gear on the potentiometer and the gear on the shaft have to mesh constantly and we have to zero the potentiometer every time we put the leg together so the potentiometer doesn't over spin. * We would prefer to have an optical encoder inside the motor.
- We need to have the drive system be at a right angle.
I need help designing a drive system that will meet the requirements.
I think I might have found a motor that will work:
The amp flow G43-500
I like the G43-500 because it can run at 24 v, thus it will take less amps than 12v. Will that motor get the job done?
I need to gear this down to around 80rpm. What type of gear box would work best?