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A Torque Measuring Method for Robot Joints with Harmonic Drives
Pan XA(潘新安); Wang HG(王洪光); Jiang Y(姜勇)
作者部门空间自动化技术研究室
会议名称4th International Conference on Manufacturing Science and Engineering (ICMSE 2013)
会议日期March 30-31, 2013
会议地点Dalian, PEOPLES R CHINA
会议主办者NE Univ, Harbin Inst Technol, Jilin Univ
会议录名称Advanced Materials Research
出版者TRANS TECH PUBLICATIONS LTD
出版地STAFA-ZURICH
2013
页码981-986
收录类别EI ; CPCI(ISTP)
EI收录号20132416420983
WOS记录号WOS:000322498500191
产权排序1
ISSN号1022-6680
ISBN号978-3-03785-693-2
关键词Joint Module Harmonic Drive Built-in Torque Sensor Strain Gauge Bridge Gain Tuning
摘要To meet the demand of joint torque measurement for a modular reconfigurable robot, a harmonic drive built-in torque measuring method was proposed. The robot and its joint module and the torque measuring principle were first introduced. Based on the two-order ripple model, strains on the flexspline were then analyzed. A new measuing method based on double compensations was proposed. This method cancels out the first order ripples by individual channels, and then cancels out the remain ripples by weighted stacking the signals. The relationship between output signal and torque was given, and a new gain-tuning method was presented. Finally, a simulation was conducted. The simulation proves that the proposed torque measuring method is correct and of high accuracy.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/12404
专题空间自动化技术研究室
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GB/T 7714
Pan XA,Wang HG,Jiang Y. A Torque Measuring Method for Robot Joints with Harmonic Drives[C]//NE Univ, Harbin Inst Technol, Jilin Univ. STAFA-ZURICH:TRANS TECH PUBLICATIONS LTD,2013:981-986.
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