High Stiffness Capacitive Type Torque Sensor with Flexure Structure for Cooperative Industrial Robots

被引：0

作者：

Kim, Jong-In ^{[1
]}

Jeon, Hyeong-Seok ^{[1
]}

Jeong, Yong-Jun ^{[1
]}

Kim, Yong-Jae ^{[1
]}

机构：

[1] KoreaTech, Dept Elect Elect & Commun Engn, Cheonan Si, South Korea

来源：

2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2017年

关键词：

torque sensor; capacitive sensor; flexure;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a capacitive type torque sensor for cooperative robot manipulators is proposed. Flexure structures are used to increase its sensitivity while maintaining the high stiffness between input and output. The sensor can measure external torque of the joint by sensing capacitance of the parallel electrode plates which are attached to the flexure structures. Symmetrically placed 4 sets of electrodes can compensate the torque ripples caused by harmonic drive gears and absorb undesired off-axis moments. The basic concept and detailed design are presented and the experimental results of the implemented sensor are shown.

引用

页码：433 / 437

页数：5

共 7 条

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