Abstract
Torque testing is crucial to improve the quality of high‐precision reducers—the core component of industrial robots. Herein, a torque‐measurement system for a novel vertical measuring instrument is designed. The distance from the torque transducers to the robot reducer is minimized to ensure the shortest measurement chain. The symmetrical system structure improves the overall rigidity, and error compensation can be performed easily. The characteristics of the torque measurement errors due to shaft bending and torsional deformations were also analyzed. A torque calibrator comprising two high‐precision torque output systems was used to calibrate torque transducers in the measurement system. Reasonable and practical compensation models based on a backpropagation neural network were developed to accurately obtain the input and output torques of the reducer. As the torque‐measurement precision of the reducer detector reached 0.1% over the entire torque range, the instrument can be used for accuracy measurement of the input and output torques of the robot reducer.
Highlights
At present, industrial robots are widely applied in many areas, and the performance requirements of robot reducers are becoming increasingly more complex [1]
The measurement results of the torque transducers in the robot reducer detectors cannot be taken as the input and output torques of the robot reducer [21,22,23,24]
We proposed a torque-measurement system to measure the input and output torques of a high-precision reducer for industrial robots
Summary
Industrial robots are widely applied in many areas, and the performance requirements of robot reducers are becoming increasingly more complex [1]. It is necessary to measure torques of input and output shafts of the tested reducer in real time [11, 12]. It can be used for long-time monitoring of multiparameters. For the instrument mentioned above, components must be installed on the guide rail to facilitate the installation and disassembly of multitype reducers. This design scheme seriously damages the overall torsional stiffness of the instrument. The contribution of this paper is to introduce a torque measurement method based on the backpropagation (BP) neural network in the vertical precision robot reducer detector. Our work overcomes some shortcomings of existing schemes and achieves high-precision torque measurement in the full range
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