谐波齿轮内嵌力矩传感器设计  

Design of torque sensor embedded in harmonic gear

作　　者：向馗[1] 刘长城 彭达坤 唐必伟 XIANG Kui;LIU Changcheng;PENG Dakun;TANG Biwei(School of Automation,Wuhan University of Technology,Wuhan 430074,China)

机构地区：[1]武汉理工大学自动化学院,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2023年第10期19-24,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学青年基金资助项目(61603284,61903286)。

摘　　要：为获取关节级精确输出力矩值,方便实现机器人关节力控,提出一种内嵌于谐波齿轮的力矩传感器设计方案,可有效减少关节模组设计尺寸及质量.采用四对对称分布的应变片粘贴于柔轮底部,提出一种基于激光打点的精确定位方式,以提高应变片定位精度;同时利用卡尔曼滤波方法降低应变片输出信号中转矩脉动干扰;最后,通过样机试制获得试验测试结果,并推导出柔轮力矩与关节输出力矩关系.经优化设计后,内嵌式力矩传感器静态时均方根误差为1.04%,动态时均方根误差为1.27%,具备测量关节模组末端输出力矩的能力.To obtain the precise output torque value at the joint level and realize the force control of the robot joint conveniently,a torque sensor design scheme embedded in the harmonic gear was proposed,which could effectively reduce the design size and weight of the joint module.Four pairs of symmetrically distributed strain gauges were pasted on the bottom of the flexspline,and a precise positioning method based on laser marking was proposed to improve the positioning accuracy of the strain gauges.Meanwhile the Kalman filter method was used to reduce the torque ripple interference in the output signal of the strain gauges.Finally,the experimental test results were obtained through the trial production of the prototype,and the relationship between the flexspline torque and the joint output torque was deduced.After optimized design,the static time root mean square error of the embedded torque sensor is 1.04%,and the dynamic time root mean square error is 1.27%,which has the ability to measure the output torque at the end of the joint module.

关 键 词：关节模组 谐波齿轮 力矩传感器 应变片 卡尔曼滤波 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]