Force-controllable Quadruped Robot System with Capacitive-type Joint Torque Sensor

2019 ◽  
Author(s):  
Yoon Haeng Lee ◽  
Young Hun Lee ◽  
Hyunyong Lee ◽  
Hansol Kang ◽  
Luong Tin Phan ◽  
...  
Keyword(s):  
Quadruped Robot ◽  
Joint Torque ◽  
Torque Sensor ◽  
Robot System ◽  
Joint Torque Sensor

scholarly journals Robust Control Based on Joint Torque Sensor Information for Robot Manipulators

1991 ◽  
Vol 27 (6) ◽  
pp. 693-699
Author(s):  
Junichi IMURA ◽  
Toshiharu SUGIE ◽  
Yasuyoshi YOKOKOHJI ◽  
Tsuneo YOSHIKAWA
Keyword(s):  
Robust Control ◽  
Robot Manipulators ◽  
Joint Torque ◽  
Torque Sensor ◽  
Joint Torque Sensor ◽  
Sensor Information

scholarly journals Power efficiency estimation based health monitoring and fault detection of modular and reconfigurable robot

2021 ◽  
Author(s):  
Jing Yaun
Keyword(s):  
Fault Detection ◽  
Health Monitoring ◽  
Power Efficiency ◽  
Joint Torque ◽  
Robot System ◽  
Operation Conditions ◽  
Efficiency Estimation ◽  
Joint Torque Sensor ◽  
Reconfigurable Robot ◽  
Critical Components

Power efficiency degradation of machines often provides intrinsic indication of problems associated with their operation conditions. Inspired by this observation, in this thesis work, a simple yet effective power efficiency estimation base health monitoring and fault detection technique is proposed for modular and reconfigurable robot with joint torque sensor. The design of the Ryerson modular and reconfigurable robot system is first introduced, which aims to achieve modularity and compactness of the robot modules. Critical components, such as the joint motor, motor driver, harmonic drive, sensors, and joint brake, have been selected according to the requirement. Power efficiency coefficients of each joint module are obtained using sensor measurements and used directly for health monitoring and fault detection. The proposed method has been experimentally tested on the developed modular and reconfigurable robot with joint torque sensing and a distributed control system. Experimental results have demonstrated the effectiveness of the proposed method.

Design and optimization of a high sensitivity joint torque sensor for robot fingers

Measurement ◽  
2020 ◽  
Vol 152 ◽  
pp. 107328
Author(s):  
Kang Han ◽  
Liheng Chen ◽  
Mingyi Xia ◽  
Qinwen Wu ◽  
Zhenbang Xu ◽  
...  
Keyword(s):  
High Sensitivity ◽  
Joint Torque ◽  
Torque Sensor ◽  
Design And Optimization ◽  
Joint Torque Sensor

A novel reactive-type joint torque sensor with high torsional stiffness for robot applications

Mechatronics ◽  
2019 ◽  
Vol 63 ◽  
pp. 102265 ◽  
Author(s):  
Jae-Kyung Min ◽  
Kuk-Hyun Ahn ◽  
Hui-Chang Park ◽  
Jae-Bok Song
Keyword(s):  
Joint Torque ◽  
Torsional Stiffness ◽  
Torque Sensor ◽  
Joint Torque Sensor

Torque Sensor For Direct-Drive Manipulators

1987 ◽  
Vol 109 (2) ◽  
pp. 122-127 ◽  
Author(s):  
C. W. deSilva ◽  
T. E. Price ◽  
T. Kanade
Keyword(s):  
Dynamic Performance ◽  
Joint Torque ◽  
Strain Gages ◽  
Torque Sensor ◽  
Direct Drive ◽  
Design Considerations ◽  
Capacity Limit ◽  
Joint Torque Sensor ◽  
Associated Design ◽  
Semiconductor Strain

This paper describes the development of a joint torque sensor for the second direct-drive manipulator at Carnegie-Mellon University (CMU DD Arm II). The approach taken is to develop the sensor using static design considerations and then test it to verify its dynamic performance. Several design considerations applicable to semiconductor strain-gage torque sensors are presented. These are strain capacity limit, nonlinearity, sensitivity, and stiffness specifications. Associated design equations have been developed in the present work. A numerical example is given to illustrate the use of these design considerations. The development of a circular-shaft torque sensor for the CMU DD Arm II, that employs semiconductor strain gages, is described. Typical results from a static calibration test and from step and impulse tests are presented. Test show that the torque sensor performs well under dynamic conditions in a bandwidth of 100 Hz.

scholarly journals Power efficiency estimation based health monitoring and fault detection of modular and reconfigurable robot

2021 ◽  
Author(s):  
Jing Yaun
Keyword(s):  
Fault Detection ◽  
Health Monitoring ◽  
Power Efficiency ◽  
Joint Torque ◽  
Robot System ◽  
Operation Conditions ◽  
Efficiency Estimation ◽  
Joint Torque Sensor ◽  
Reconfigurable Robot ◽  
Critical Components

Power efficiency degradation of machines often provides intrinsic indication of problems associated with their operation conditions. Inspired by this observation, in this thesis work, a simple yet effective power efficiency estimation base health monitoring and fault detection technique is proposed for modular and reconfigurable robot with joint torque sensor. The design of the Ryerson modular and reconfigurable robot system is first introduced, which aims to achieve modularity and compactness of the robot modules. Critical components, such as the joint motor, motor driver, harmonic drive, sensors, and joint brake, have been selected according to the requirement. Power efficiency coefficients of each joint module are obtained using sensor measurements and used directly for health monitoring and fault detection. The proposed method has been experimentally tested on the developed modular and reconfigurable robot with joint torque sensing and a distributed control system. Experimental results have demonstrated the effectiveness of the proposed method.

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