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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

    • In the field of precision force control for collaborative robots, researchers have developed an in-situ integrated torque sensor using harmonic reducer flexible wheel deformation, and proposed a residual ripple compensation method based on Fourier series model to improve measurement accuracy. By analyzing the strain law at the bottom of the flexible wheel, a strain sensitive grid structure was designed, and a Fourier series model between the ripple and the angle of the wave generator was established for compensation. The test results show that this compensation method can effectively reduce the interference of residual ripple on the sensor output, providing a solution for the precise measurement of joint torque.
    • Optics and Precision Engineering   Pages: 1-10(2024)
    • CLC: TP242;TH823
    • Received:09 March 2024

      Revised:11 April 2024

      Published Online:30 May 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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Related Author

GAO Hailong
ZHENG Fangyan
XU Haojie
YUAN Binfei
WANG Xiaodong
DU Zhijie
SHEN Wenqiang
GAO Hailong

Related Institution

Engineering Research Center of Mechanical Testing Technology and Equipment, Ministry of Education, Chongqing University of Technology
Shenzhen International Graduate School, Tsinghua University
Tsinghua-Berkeley Shenzhen Institute, Tsinghua University
School of Power and Mechanical Engineering, Wuhan University
Advanced Light Source Research Center, Wuhan University
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