谐波减速器转矩原位测量及误差补偿  

Development of integrated torque sensor for harmonic reducer and Error Compensation

作　　者：高海龙 沈文强 杜志杰 曹嘉鋆 王晓东[1] 娄志峰[1] GAO Hailong;SHEN Wenqiang;DU Zhijie;CAO Jiajun;WANG Xiaodong;LOU Zhifeng(School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《光学精密工程》2024年第12期1857-1867,共11页Optics and Precision Engineering

基　　金：国家重点研发计划(No.2023YFB4704301);辽宁省“兴辽英才计划”项目(No.XLYC2002020)。

摘　　要：为实现协作机器人精准力控,利用谐波减速器柔轮变形研制了一种原位集成转矩传感器。提出了基于傅里叶级数模型的剩余纹波补偿方法提高测量精度。提出了基于傅里叶级数模型的剩余纹波补偿方法提高测量精度。首先,分析了柔轮底部应变规律,通过正弦叠加的原理设计了应变敏感栅结构;然后建立纹波与波发生器角度之间的傅里叶级数模型,补偿剩余纹波;最后,研制了测试平台进行加载测试,结果表明,在波发生器静止状态下施加瞬时激励和阶跃负载,自制转矩传感器与标准转矩传感器输出误差为0.988%和0.253%;在波发生器旋转状态下施加阶梯变化、正弦变化、正弦变化过程中人为碰撞三种形式的负载,自制转矩传感器与标准转矩传感器输出误差为3.822%,4.247%和4.456%。本文提出的补偿方法能有效降低剩余纹波对传感器输出的干扰,有利于推动关节转矩精准测量的实现。In order to achieve precise force control of collaborative robot,an in-situ integrated torque sensor is developed by using the deformation of the flexspline of the harmonic reducer.Proposed a residual ripples compensation method based on Fourier series model to improve measurement accuracy.Firstly,the strain law at the bottom of the flexspline was analyzed,and the sensitive grid structure of the strain gauge was designed based on the principle of sinusoidal superposition;Then the Fourier series model between the remain ripples and the angle of the wave generator was established to compensate the residual ripple;Finally,a test platform is developed for loading test,the results show that the output errors of the selfmade torque sensor and the standard torque sensor are 0.988% and 0.253% when the instantaneous excitation and step load are applied under the static state of the wave generator;Under the rotating state of the wave generator,three kinds of loads,i.e.step change,sinusoidal change and man-made collision in the process of sinusoidal change,are applied.The output errors between the self-made torque sensor and the standard torque sensor are 3.822%,4.247% and 4.456%.The compensation method proposed in this paper can effectively reduce the interference of residual ripple on the sensor output,which is conducive to the realization of accurate measurement of joint torque.

关 键 词：转矩传感器 谐波减速器 傅里叶级数 误差补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH823[自动化与计算机技术—控制科学与工程]