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

作　　者：王晓东[1] 杜志杰 沈文强 高海龙 刘玉杰 娄志峰[1] WANG Xiaodong;DU Zhijie;SHEN Wenqiang;GAO Hailong;LIU Yujie;LOU Zhifeng(School of Mechanical Engineering,Dalian University of Technology,Dalian 116023,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116023

出　　处：《光学精密工程》2024年第19期2899-2910,共12页Optics and Precision Engineering

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

摘　　要：为实现协作机器人关节力控和提高集成度,提出一种集成于谐波减速器内部的扭矩传感器,以精确获取关节输出扭矩值,推动智能化控制的实现。采用有限元计算方法分析了谐波减速器柔轮底面应变与加载扭矩之间的规律;然后根据有限元分析的结果,考虑柔轮底面敏感栅在不同栅丝长度、栅丝间距和栅丝位置情况下,建立底面应变与扭矩变化皮尔逊相关系数的响应面模型,求解模型获得最优的敏感栅结构参数,确保该结构下集成式传感器具有最佳线性响应,结合惠斯通电桥原理设计扭矩传感器结构;最后,对集成式扭矩传感器进行标定和测试。结果表明:集成式扭矩传感器的灵敏度为0.249 mV/N·m,线性度为0.99974,迟滞误差为2.19%。施加0~70 N·m之间阶梯变化的负载扭矩并进行重复实验,集成式扭矩传感器相对于标准扭矩传感器均方根误差为0.89~0.98 N·m。施加在±70 N·m之间正弦变化的负载扭矩,均方根误差为0.96~1.05 N·m。该集成式扭矩传感器能够较为精准地感应负载扭矩,有助于实现协作机器人关节力控制,提升机器人系统的集成度。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 0.99974,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 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]