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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)
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
会议录名称Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1774-1779
收录类别EI ; CPCI(ISTP)
EI收录号20161802327772
WOS记录号WOS:000380476200296
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17454
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
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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