光学精密工程2024，Vol.32Issue(19)：2899-2910,12.DOI:10.37188/OPE.20243219.2899
谐波减速器集成式扭矩传感器的设计与测试
Design and testing of harmonic reducer integrated with torque sensor
摘要
Abstract
The article introduces an integrated torque sensor within a harmonic drive reducer to accu-rately measure joint output torque,enhancing intelligent control and integration of collaborative ro-bots.Using finite element analysis,the relationship between strain on the harmonic drive reducer's flexible wheel surface and torque is examined.A response surface model based on this analysis deter-mines optimal grid structure parameters for the sensor,ensuring the best linear response.The sensor is designed using the Wheatstone bridge principle.Calibration and testing show a sensitivity of 0.249 mV/N·m,a linearity of 0.999 74,and a hysteresis error of 2.19%.With load torque changes from 0 to 70 N·m,the root mean square error is between 0.89 N·m and 0.98 N·m;for sinusoidal changes between±70 N·m,it's 0.96 N·m to 1.05 N·m.This sensor accurately detects torque magnitude,aiding joint force control in collaborative robots and enhancing system integration.关键词
扭矩传感器/谐波减速器/有限元分析/敏感栅/响应面法Key words
torque sensor/harmonic reducer/finite element analysis/sensitive grid/response surface methodology分类
计算机与自动化引用本文复制引用
王晓东,杜志杰,沈文强,高海龙,刘玉杰,娄志峰..谐波减速器集成式扭矩传感器的设计与测试[J].光学精密工程,2024,32(19):2899-2910,12.基金项目
国家重点研发计划资助项目(No.2023YFB4704301) （No.2023YFB4704301）
辽宁省"兴辽英才计划"项目(No.XLYC2002020) （No.XLYC2002020）
