Can the components be re-aligned so the change in angle is +/- 11.5 instead of 23 degrees?
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1 - I'd get professional manufacturer's analysis of a well used joint
2 - Get evaluation of your application direct from a premium U-joint manufacturer's engineering department, and Kluber lubricants. They will want to know how hot the joint is when running at high speeds.
3 - Rebuild with Premium joints and Kluber grease
4 - Relubricate at something like 1/4 failure interval
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From SAE AE-7 max >>suggested<< speed for Cardan joint at 20 degrees is about 800 rpm, as limited by max angular acceleration of 1500 rad/sec2. This angular acceleration results from the 2X up and down speed variation inherent between input and output speed. With large driver/driven components, Phasing the 2 joints, and keeping the input and output shafts parallel means the only extra joint forces would result from accelerating/decelerating the intermediate shaft mass.
As I look at typical u-joints it looks to me like centrixxxal force would tend to keep grease in a joint. Can you see an indication of greasy mess in-line with the joit after a hi-speed run?
With all due respect to your shaft maker, and all other honest and experienced craftspeople, I would be REAL interested in the joint manufacturers evaluation of a well used but not yet badly failed joint.
Are the joints made by a well known manufacturer? If not, I'd certainly try again with premium joints. Bargain ball/roller bearings are sometimes tragically deficient in material quality, heat treat quality, or journal surface finish, or uniformity of ball/roller diameter.
How are you allowing for plunge, or axial growth? It seems like you probably need a spline in there somewhere.
Grease base oil gets oxidized by heat, and torn up by the shearing of roller action. The higher the rpm (oscillation in the U-joint rollers) the shorter the grease life. Bearing life can not be greater than grease life. There are synthetic greases that have vastly improved life at high speeds. An alternative is to re-grease the bearing more frequently.