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Development of integrated torque sensor for harmonic reducer and Error Compensation
更新时间:2024-05-30
    • Development of integrated torque sensor for harmonic reducer and Error Compensation

    • 在协作机器人精准力控领域,研究人员利用谐波减速器柔轮变形研制了一种原位集成转矩传感器,并提出了基于傅里叶级数模型的剩余纹波补偿方法以提高测量精度。通过分析柔轮底部应变规律,设计了应变敏感栅结构,并建立纹波与波发生器角度之间的傅里叶级数模型进行补偿。测试结果表明,该补偿方法能有效降低剩余纹波对传感器输出的干扰,为关节转矩精准测量的实现提供了解决方案。
    • Optics and Precision Engineering   Pages: 1-10(2024)
    • CLC: TP242;TH823
    • Published Online:30 May 2024

      Received:09 March 2024

      Revised:11 April 2024

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  • GAO Hailong,SHEN Wenqiang,DU Zhijie,et al.Development of integrated torque sensor for harmonic reducer and Error Compensation[J].Optics and Precision Engineering, DOI:10.37188/OPE.XXXXXXXX.0001

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