中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Development and Optimization of the Build-in Torque Sensor for Harmonic Drive
作者: Wang XZ(王雪竹); Cui L(崔龙); Li HY(李洪谊); Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期: December 6-9, 2015
会议地点: Zhuhai, China
会议录: Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1774-1779
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4673-9674-5
摘要: The development of human-robot cooperation and the demand of high-precision robot control have increasingly spurred the usage of joint torque sensors. A build-in torque sensor for harmonic drive is researched in this paper, which utilizes strain gauges attached to the surface of the flexspline to measure torque. As the strain signal is significantly affected by the rotation of wave generator, positioning error of strain gauges and uneven distribution of the load torque, a new torque sensing technique with on-line torque estimation is developed to eliminate disturbance and achieve better measurement precision. Meanwhile, the dynamic strain of flexspline is obtained by finite element method, which is utilized to optimize the layout of strain gauges for lower disturbance. The proposed torque sensing technique is implemented and verified by experimental results.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380476200296
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17454
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Development and Optimization of the Build-in Torque Sensor for Harmonic Drive.pdf(1033KB)会议论文--开放获取View Download

Recommended Citation:
Wang XZ,Cui L,Li HY,et al. Development and Optimization of the Build-in Torque Sensor for Harmonic Drive[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Wang XZ(王雪竹)]'s Articles
[Cui L(崔龙)]'s Articles
[Li HY(李洪谊)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Wang XZ(王雪竹)]‘s Articles
[Cui L(崔龙)]‘s Articles
[Li HY(李洪谊)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Development and Optimization of the Build-in Torque Sensor for Harmonic Drive.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace