https://scholars.lib.ntu.edu.tw/handle/123456789/598792
標題: | Design and Optimization of a Joint Torque Sensor for Lightweight Robots | 作者: | Nguyen D.-D Kuo C.-H. CHUNG-HSIEN KUO |
關鍵字: | Joint torque sensor;noise reduction;optimal design;structural topology design;Robots;Signal processing;Strain gages;Torque;Torque meters;Design and optimization;High sensitivity;Inclination sensing;Joint torque sensors;Optimization design;Placement position;Spoke structure;Working environment;Machine design | 公開日期: | 2021 | 卷: | 21 | 期: | 8 | 起(迄)頁: | 9788-9797 | 來源出版物: | IEEE Sensors Journal | 摘要: | Force detection is an important indicator of a robot's interaction with the working environment. Therefore, accurate and sensitive torque sensor design and development are important. This study proposed a robot joint torque sensor design and optimization based on a strain gauge and through-hole spoke structure topology to detect the external force with high sensitivity and low noise. A through-hole spoke type with a novel inclination sensing surface (ISS) was proposed, and the optimization design improved the strain gauge placement position and focused stress arrangement. Three optimization objectives were desired to enhance the joint torque sensor sensitivity with guaranteed stiffness. A sensor signal processing circuit was also introduced to obtain low-noise output signal performance. The experimental results showed that the joint torque sensor had a high sensitivity of 1.65 mV/Nm before amplification. This sensor was compared with a previous study and a commercial torque sensor. The prototype torque sensor indicated high sensitivity and low error. ? 2021 IEEE. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85100847699&doi=10.1109%2fJSEN.2021.3057920&partnerID=40&md5=40723c5a6caeac9991b260b064b1167b https://scholars.lib.ntu.edu.tw/handle/123456789/598792 |
ISSN: | 1530437X | DOI: | 10.1109/JSEN.2021.3057920 |
顯示於: | 機械工程學系 |
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