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ROBOT HAND WITH TORQUE SENSOR WHICH CAN PRECISELY MEASURES THE OUTSIDE TORQUE APPLIED IN ROBOT JOINT BY INTEGRATING TORQUE SENSOR AND REDUCER
ROBOT HAND WITH TORQUE SENSOR WHICH CAN PRECISELY MEASURES THE OUTSIDE TORQUE APPLIED IN ROBOT JOINT BY INTEGRATING TORQUE SENSOR AND REDUCER
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机译：带有扭矩传感器的机器人手可以通过集成扭矩传感器和减速器来精确地测量应用于机器人关节的外部扭矩
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摘要
PURPOSE: A robot hand with a torque sensor is provided to minimize the excessive pushing of the robot hand to an object by precisely measures the outside torque applied in the robot joint. ;CONSTITUTION: A robot hand with a torque sensor comprises a frame(110), a pair of driving parts(120), a differential gear(130), a pair of reducers(140), and a pair of torque sensors. A pair of driving parts is installed in both sides of the frame to be crossed over each other. The differential gear is arranged on a joint part(111) of the frame and is connected to the driving shaft of the driving part. The reducer reduces the rotation of the rotary shaft of the differential gear. The reducer is installed in the side of the frame which is located adjacent to the driving part. A pair of torque sensors is inserted in between the frame and the reducer. The torque sensor measures the torque delivered through the rotary shaft of the reducer. A strain gauge of the torque sensor is formed on both sides of one or more beams(151) symmetrically formed at a rotary shaft. The strain gage measures a torque which is converted by deformation degree of beam.;COPYRIGHT KIPO 2011
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