摘要
提高协作机器人的力交互性必须提升机器人关节力矩测量的精确性,利用谐波减速器柔轮应变设计了一种关节力矩传感器。首先分析并建立柔轮的应变模型,基于应变电测技术,研制了物理样机。其次利用傅里叶变换对关节力矩传感器的输出信号进行分析,建立了传感器力矩信号直流分量与负载力矩之间的关系。测试结果表明:研制的关节力矩传感器具有较高的灵敏度和良好的重复性。
To improve the force interaction of collaborative robots,the measurement accuracy of robot joint torque must be improved.Therefore,a joint torque sensor is designed using the principle of the flexspline’s strain of the harmonic reducer.Firstly,the strain modeling of the flexspline is analyzed and established.Based on the strain electrical measurement technology,a physical prototype is developed.Secondly,using the Fourier transform to analyze the output signal of the joint torque sensor,the relationship between the DC component of the sensor torque signal and the load torque is established.The test results show that the developed joint torque sensor has high sensitivity and good repeatability.
作者
金源
崔建伟
JIN Yuan;CUI Jianwei(School of Instrument Science and Engineering,Southeast University,Nanjing 210000,China)
出处
《传感器与微系统》
CSCD
北大核心
2022年第2期21-23,28,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(61873063)。
关键词
谐波减速器
力矩
应变
harmonic reducer
torque
strain
