Accuracy improvement of built-in torque sensing for Harmonic Drives

Author

Godler, Ivan ; Horiuchi, Masashi ; Hashimoto, Minoru ; Ninomiya, Tamotsu

Author_Institution

Dept. of Electr. & Electron. Syst. Eng., Kyushu Univ., Fukuoka, Japan

Volume

5

Issue

4

fYear

2000

fDate

12/1/2000 12:00:00 AM

Firstpage

360

Lastpage

366

Abstract

Built-in torque sensing for Harmonic Drives is attractive since it maintains mechanical characteristics of the gear while providing detection of the transmitted torque. Torque sensing by using strain gauges has been studied, but is not widely used yet due to a relatively high signal fluctuation, which is generated by the gear operation. Characteristics of the signal fluctuation are analyzed in this paper, and a method to effectively compensate the signal fluctuation is proposed. The signal fluctuation is perfectly compensated by adjustment of the strain gauge sensitivities. A minimum number of strain gauges needed to compensate the signal fluctuation is derived. The experimental result with three strain gauges compensating the basic frequency component of the signal fluctuation is shown

Keywords

compensation; electric drives; mechatronics; strain gauges; torque control; Harmonic Drives; compensation; gear reduction; mechatronics; strain gauges; torque sensing; Capacitive sensors; Fluctuations; Frequency; Gears; Mechatronics; Motion control; Robot sensing systems; Signal analysis; Signal generators; Torque control;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.891047

Filename

891047