Abstract

Joint torque sensors are widely used in service robots for force control and collision detection. However, since torque sensors are often directly connected to a harmonic drive, it must be insensitive to torque ripple, the noise from the harmonic drive due to its unique structure. The magnitude of torque ripple is several times higher than electrical noise, and it significantly decreases robot’s force control and collision detection performances. In this study, we propose the torque ripple reduction method through the change of the installation position of Wheatstone bridges, and the structure design of torque sensor for service robot arms through FEM analysis. The performance of the proposed reduction method was verified through experiments.Keywordsjoint torque sensortorque rippleharmonic driveservice robot arm

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.