Paper Info
Title
Design of Strain Gauge Torque Sensor Used in the Modular Joint of Collaborative Robot
Abstract
With the characteristics of simple structure, good fabrication performance and stability, the disc strain gauge torque sensor is widely equipped in the collaborative robot to measure the modular joint output torque. The sensitivity and the stiffness are two important parameters of the torque sensor which influence robot torque control. However, the stiffness is paid less attention than the sensitivity during the robot design process. What is worse, some sensor design process improving the sensitivity weaken the stiffness unconsciously. In order to consider the sensitivity and the stiffness of the torque sensor during the design process simultaneously, the conflicting relationship between sensor sensitivity and the sensor stiffness about the measurement area thickness is established. With the guidance of the relationship the measurement area thickness is determined not only ensuring the sensitivity meet the safety demand but also improving the torque sensor has a higher stiffness. After designed a torque sensor model is made to detect the parameters. The experiment shows that the sensor has a good accuracy and the sensitivity is in accordance with the design.
Year
DOI
Venue
2021
10.1007/978-3-030-89095-7_50
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT I
Keywords
DocType
Volume
Design and test, Torque sensor, Modular joint, Collaborative robot
Conference
13013
ISSN
Citations 
PageRank 
0302-9743
0
0.34
References 
Authors
0
6
Name
Order
Citations
PageRank
Peng Li100.34
Fugui Xie21411.33
Yanlei Ye300.68
Zihao Li400.68
Yingzheng Liu500.34
Xin-Jun Liu615532.61