Joint Torque Sensing on Harmonic Drives for Robots
Joint Torque Sensing on Harmonic Drives for Robots
复制标题
机器人谐波驱动器的关节扭矩传感
DOI：
10.7210/jrsj.7.52
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发表时间：
1989
期刊：
影响因子：
--
通讯作者：
M. Hashimoto
中科院分区：
文献类型：
--
作者：
M. Hashimoto
在本文中，我们提出了一种联合扭矩传感技术，利用弹性的谐波传动。该技术基于谐波传动中柔轮上的应变片电桥的反作用，通过该反作用，消除了由于波发生器旋转而引起的传感器输出的调制。通过利用本技术，非常容易地测量施加在机器人关节上的扭矩，而不会破坏机器人的刚度。
In the present paper we propose a joint torque sensing technique using elasticity of the harmonic drive. The technique is based on the constraction of the strain gauge bridges on the flexspline in harmonic drives, by which the modulation in the sensor output due to the wave generator rotation is eliminated. By utilizing the present technique, the torque exerted on robotic joints is measured very easily without spoiling stiffness of the robots.