Development of integrated torque sensor for harmonic reducer and Error Compensation

被引：0

作者：

Gao, Hailong ^{[1
]}

Shen, Wenqiang ^{[1
]}

Du, Zhijie ^{[1
]}

Cao, Jiajun ^{[1
]}

Wang, Xiaodong ^{[1
]}

Lou, Zhifeng ^{[1
]}

机构：

[1] School of Mechanical Engineering, Dalian University of Technology, Dalian

来源：

Guangxue Jingmi Gongcheng/Optics and Precision Engineering | 2024年 / 32卷 / 12期

关键词：

error compensation; Fourier series; harmonic reducer; torque sensor;

D O I：

10.37188/OPE.20243212.1857

中图分类号：

学科分类号：

摘要：

In order to achieve precise force control of collaborative robot，an in-situ integrated torque sensor is developed by using the deformation of the flexspline of the harmonic reducer. Proposed a residual ripples compensation method based on Fourier series model to improve measurement accuracy. Firstly，the strain law at the bottom of the flexspline was analyzed，and the sensitive grid structure of the strain gauge was designed based on the principle of sinusoidal superposition；Then the Fourier series model between the remain ripples and the angle of the wave generator was established to compensate the residual ripple；Finally，a test platform is developed for loading test，the results show that the output errors of the self-made torque sensor and the standard torque sensor are 0. 988% and 0. 253% when the instantaneous excitation and step load are applied under the static state of the wave generator；Under the rotating state of the wave generator，three kinds of loads，i. e. step change，sinusoidal change and man-made collision in the process of sinusoidal change，are applied. The output errors between the self-made torque sensor and the standard torque sensor are 3. 822%，4. 247% and 4. 456%. The compensation method proposed in this paper can effectively reduce the interference of residual ripple on the sensor output，which is conducive to the realization of accurate measurement of joint torque. © 2024 Chinese Academy of Sciences. All rights reserved.

引用

页码：1857 / 1867

页数：10

共 17 条

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