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首页> 外文期刊>International Journal of Precision Engineering and Manufacturing >Design of Joint Torque Sensor with Reduced Torque Ripple for a Robot Manipulator
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Design of Joint Torque Sensor with Reduced Torque Ripple for a Robot Manipulator

机译：减小机械臂转矩脉动的联合转矩传感器的设计

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摘要

Joint torque sensors are widely used in service robots for force control and collision detection. However, commercial torque sensors and amplifiers are too bulky to install inside robots. In this study, we propose an amplifier-embedded torque sensor because placing the amplifier away from the sensor tends to add noise to the output signal. Furthermore, joint torque sensors experience the torque ripple generated by the harmonic drive gear Therefore, a torque ripple reduction method is also proposed in this study. FEM analysis was conducted to improve the sensitivity of the torque sensor to only torques in the direction of joint rotation. To avoid external noise and excessive wiring, an embedded amplifier, which can be installed inside the joint of the robot arm with the torque sensor, was developed. Also, the torque ripple reduction method based on the change in the installation position of Wheatstone bridges was developed. Through various experiments, the performance of the proposed torque sensor was verified.
机译：关节扭矩传感器广泛用于服务机器人中的力控制和碰撞检测。但是，商用扭矩传感器和放大器体积太大，无法安装在机器人内部。在这项研究中，我们提出了一种嵌入式放大器的扭矩传感器，因为将放大器放置在远离传感器的位置会增加输出信号的噪声。此外，关节扭矩传感器会经历由谐波驱动齿轮产生的扭矩波动，因此，本研究还提出了一种降低扭矩波动的方法。进行了有限元分析，以提高扭矩传感器仅对关节旋转方向上的扭矩的敏感性。为了避免外部噪声和过多的布线，开发了一种嵌入式放大器，该放大器可安装在带有扭矩传感器的机器人手臂的关节内。此外，根据惠斯通电桥的安装位置的变化，开发了减小转矩脉动的方法。通过各种实验，验证了所提出的扭矩传感器的性能。

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