一种1自由度关节式扭矩传感器性能测试设备设计

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI:10.1109/URAI.2013.6677450

Chanhun Park, Hyunmin Do, Gwang Jo-Jung, Byung-In Kim

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引用次数: 1

摘要

在机器人机械手的每个关节处使用1自由度关节扭矩传感器的原因有很多。设计了一自由度关节扭矩传感器，用于灵敏地测量无刷直流电机和减速链产生的一自由度旋转扭矩。此外，它必须对5 DOF力和力矩不敏感，这些力和力矩不是由无刷直流电机和减速引起的。但实际上，1自由度扭矩传感器存在传感误差，不能对非电机感应的力和力矩完全不敏感。为此，设计了一种性能测试设备来测量上述关节扭矩传感器的性能。本文将介绍研究成果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Performance test equipment design of a 1 DOF joint torque sensor

There are many reasons to use 1 DOF joint torque sensor at each joints of the robot manipulator. 1 DOF joint torque sensor is designed to sensitively measure 1 DOF rotational torque induced by a BLDC motor and reduction train. Also it has to be insensitive to 5 DOF forces and moments which are not induced by a BLDC motor and reduction. But actually, the 1 DOF torque sensor has sensing error and it cannot be perfectly insensitive to the forces and moments not-induced by the motor. In this reason, a performance-test-equipment has been designed to measure the performance of the joint torque sensor mentioned above. In this paper, the research results will be introduced.

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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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