Performance of gain-tuned harmonic drive torque sensor under load and speed conditions

2001 ◽  
Vol 6 (2) ◽  
pp. 155-160 ◽  
Author(s):  
I. Godler ◽  
M. Hashimoto ◽  
M. Horiuchi ◽  
T. Ninomiya
Keyword(s):  
Harmonic Drive ◽  
Torque Sensor ◽  
Drive Torque

scholarly journals A Novel Virtual Torque Sensor for Rescue Robots with Harmonic Drives

2016 ◽  
Author(s):  
Kerui Xia ◽  
Liang Ding ◽  
Guangjun Liu ◽  
Haibo Gao ◽  
Zongquan Deng
Keyword(s):  
Gaussian Process ◽  
Gaussian Process Regression ◽  
Strain Gauges ◽  
Harmonic Drive ◽  
Torque Sensor ◽  
Joint Angles ◽  
Online Implementation ◽  
Sensor Measurement ◽  
Compliance Model ◽  
Rescue Robots

In this paper, a method is developed for presenting a novel virtual torque sensor based on precise model and position measurements avoids the need of traditional strain gauges and amplifiers. More specifically, the harmonic drive compliance model and the Gaussian process regression (GPR) technique are used together to achieve virtual torque sensor measurement. While the harmonic drive compliance model provides the analytic part, the Gaussian process regression method is used to reconstruct the unmolded part based on motor-side and link-side joint angles as well as motor current. After an automatic offline calibration, the method allows for a lean online implementation. The virtual torque sensor measurement is compared with measurements of a commercial torque sensor, and the results have attested the effectiveness of the proposed method.

Harmonic Drive with a Built-in Torque Sensor and Its Application to Torque Control

1991 ◽  
Vol 3 (4) ◽  
pp. 306-313
Author(s):  
Minoru Hashimoto ◽  
◽  
Hideki Hirabayashi ◽  
Toshihide Kiyosawa ◽  
Keyword(s):  
Motion Control ◽  
Torque Control ◽  
Finite Element Method Analysis ◽  
Harmonic Drive ◽  
Torque Sensor ◽  
Torque Measurement ◽  
The Finite Element Method ◽  
Driving System ◽  
Linear Friction ◽  
Method Analysis

In this paper, first a method of torque measurement using elasticity contained in harmonic drive system is outlined. This method of torque measurement does not require changing the structure of the driving system nor inserting a new elastic body for torque measurement. Here, a configuration method of strain gauge for measuring the true torque based on the finite-element method analysis of the flexspline, an elastic clement in the harmonic drive, is proposed. Then, the properties of this torque sensor are experimentally verified. Finally, as a case of application, non-linear friction attributable to the harmonic drive is compensated by torque control using the torque sensor mentioned here, showing an improvement in performance of motion control.

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