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Alternative TitleDevelopment of a built-in torque sensor in harmonic drive gears for robots
潘新安; 王洪光; 姜勇
Source Publication仪器仪表学报
Indexed ByEI ; CSCD
EI Accession number20141017420154
Contribution Rank1
Funding Organization国家863计划(2012AA041401);国家自然科学基金(60905048);机器人学国家重点实验室课题(RLZ200802)资助项目
Keyword关节模块 谐波减速器 扭矩传感器 矢量叠加 应变电桥 误差分析
Other AbstractTo meet the demand of joint torque measurement for a modular reconfigurable robot, a built-in torque sensor in harmonic drive gear was developed. Based on the two-order ripple model, the stress and strain of the flexspline in the harmonic drive gear were analyzed. A vector-added-and-cancelled-out-principle based torque sensor design method was proposed, and a three-vector-added-and-cancelled-out-based torque sensor was designed. The torque sensor cancels out the first order, the second order, and even all the other higher order ripples through ripple vector addition. The redundant stain gauges were employed to improve the measurement accuracy. The relationship between the output signal and the input torque was obtained, and the error analysis was given. A torque sensor prototype and a test bed were developed; and the loading experiments were conducted. The experimental results show that the torque sensor possesses high sensitivity and accuracy, and the accuracy has correlation with the wave generator rotation.
Citation statistics
Cited Times:5[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
潘新安,王洪光,姜勇. 一种机器人谐波减速器内嵌扭矩传感器的研制[J]. 仪器仪表学报,2014,35(1):154-161.
APA 潘新安,王洪光,&姜勇.(2014).一种机器人谐波减速器内嵌扭矩传感器的研制.仪器仪表学报,35(1),154-161.
MLA 潘新安,et al."一种机器人谐波减速器内嵌扭矩传感器的研制".仪器仪表学报 35.1(2014):154-161.
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