A Torque Measuring Method for Robot Joints with Harmonic Drives

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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)
	2013
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
关键词	joint module harmonic drive built-in torque sensor strain gauge bridge gain tuning
页码	981-986
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	NE Univ, Harbin Inst Technol, Jilin Univ
会议录	Advanced Materials Research
会议录出版者	TRANS TECH PUBLICATIONS LTD
会议录出版地	STAFA-ZURICH
语种	英语
ISSN号	1022-6680
ISBN号	978-3-03785-693-2
WOS记录号	WOS:000322498500191
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/12404]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Pan XA,Wang HG,Jiang Y. A Torque Measuring Method for Robot Joints with Harmonic Drives[C]. 见:4th International Conference on Manufacturing Science and Engineering (ICMSE 2013). Dalian, PEOPLES R CHINA. March 30-31, 2013.