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Development and Optimization of the Build-in Torque Sensor for Harmonic Drive
Wang XZ(王雪竹); Cui L(崔龙); Li HY(李洪谊); Wang YC(王越超)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Conference DateDecember 6-9, 2015
Conference PlaceZhuhai, China
Source PublicationProceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1774-1779
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161802327772
WOS IDWOS:000380476200296
Contribution Rank1
ISBN978-1-4673-9674-5
AbstractThe 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17454
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Wang XZ,Cui L,Li HY,et al. Development and Optimization of the Build-in Torque Sensor for Harmonic Drive[C]. Piscataway, NJ, USA:IEEE,2015:1774-1779.
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