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

Jae Kyung Min, Kuk Hyun Ahn, Hui Chang Park, Jae-Bok Song

Research output: Contribution to journalArticle

Abstract

If a collaborative robot can measure contact force when in contact with the environment or humans, it can achieve better performance on collision detection, hand guiding, and force control. In order to achieve this, joint torque sensors are often mounted on each joint of a robot arm. However, a torque sensor mounted between the harmonic drive and the robot link suffers from crosstalk problems due to loads other than the torque of interest as well as the deformation of the harmonic drive during its power transmission. In addition, the torsional stiffness of a torque sensor itself tends to lower the overall stiffness of the arm, thereby affecting the accuracy of the robot. In this study, we propose a novel design of the strain gauge-based joint torque sensor that overcomes the shortcomings of conventional torque sensors. It is experimentally shown in various ways that the proposed joint torque sensor can properly deal with the crosstalk and thus accurately measure the torque of interest. Furthermore, it is found that the torsional stiffness of the sensor is large enough to minimize a reduction in overall arm stiffness, and its ring-type structure allows the sensor to be used without increasing the volume of the joint module.

Original languageEnglish
Article number102265
JournalMechatronics
Volume63
DOIs
Publication statusPublished - 2019 Nov 1

Fingerprint

Robot applications
Torque
Stiffness
Sensors
Robots
Crosstalk
Force control
Strain gages
Power transmission
Telecommunication links
Loads (forces)

Keywords

  • Collaborative robot
  • Joint module
  • Joint torque sensor
  • Robot arm

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

A novel reactive-type joint torque sensor with high torsional stiffness for robot applications. / Min, Jae Kyung; Ahn, Kuk Hyun; Park, Hui Chang; Song, Jae-Bok.

In: Mechatronics, Vol. 63, 102265, 01.11.2019.

Research output: Contribution to journalArticle

@article{6229f1ccc8744126b28cddfafb19b9ec,
title = "A novel reactive-type joint torque sensor with high torsional stiffness for robot applications",
abstract = "If a collaborative robot can measure contact force when in contact with the environment or humans, it can achieve better performance on collision detection, hand guiding, and force control. In order to achieve this, joint torque sensors are often mounted on each joint of a robot arm. However, a torque sensor mounted between the harmonic drive and the robot link suffers from crosstalk problems due to loads other than the torque of interest as well as the deformation of the harmonic drive during its power transmission. In addition, the torsional stiffness of a torque sensor itself tends to lower the overall stiffness of the arm, thereby affecting the accuracy of the robot. In this study, we propose a novel design of the strain gauge-based joint torque sensor that overcomes the shortcomings of conventional torque sensors. It is experimentally shown in various ways that the proposed joint torque sensor can properly deal with the crosstalk and thus accurately measure the torque of interest. Furthermore, it is found that the torsional stiffness of the sensor is large enough to minimize a reduction in overall arm stiffness, and its ring-type structure allows the sensor to be used without increasing the volume of the joint module.",
keywords = "Collaborative robot, Joint module, Joint torque sensor, Robot arm",
author = "Min, {Jae Kyung} and Ahn, {Kuk Hyun} and Park, {Hui Chang} and Jae-Bok Song",
year = "2019",
month = "11",
day = "1",
doi = "10.1016/j.mechatronics.2019.102265",
language = "English",
volume = "63",
journal = "Mechatronics",
issn = "0957-4158",
publisher = "Elsevier Limited",

}

TY - JOUR

T1 - A novel reactive-type joint torque sensor with high torsional stiffness for robot applications

AU - Min, Jae Kyung

AU - Ahn, Kuk Hyun

AU - Park, Hui Chang

AU - Song, Jae-Bok

PY - 2019/11/1

Y1 - 2019/11/1

N2 - If a collaborative robot can measure contact force when in contact with the environment or humans, it can achieve better performance on collision detection, hand guiding, and force control. In order to achieve this, joint torque sensors are often mounted on each joint of a robot arm. However, a torque sensor mounted between the harmonic drive and the robot link suffers from crosstalk problems due to loads other than the torque of interest as well as the deformation of the harmonic drive during its power transmission. In addition, the torsional stiffness of a torque sensor itself tends to lower the overall stiffness of the arm, thereby affecting the accuracy of the robot. In this study, we propose a novel design of the strain gauge-based joint torque sensor that overcomes the shortcomings of conventional torque sensors. It is experimentally shown in various ways that the proposed joint torque sensor can properly deal with the crosstalk and thus accurately measure the torque of interest. Furthermore, it is found that the torsional stiffness of the sensor is large enough to minimize a reduction in overall arm stiffness, and its ring-type structure allows the sensor to be used without increasing the volume of the joint module.

AB - If a collaborative robot can measure contact force when in contact with the environment or humans, it can achieve better performance on collision detection, hand guiding, and force control. In order to achieve this, joint torque sensors are often mounted on each joint of a robot arm. However, a torque sensor mounted between the harmonic drive and the robot link suffers from crosstalk problems due to loads other than the torque of interest as well as the deformation of the harmonic drive during its power transmission. In addition, the torsional stiffness of a torque sensor itself tends to lower the overall stiffness of the arm, thereby affecting the accuracy of the robot. In this study, we propose a novel design of the strain gauge-based joint torque sensor that overcomes the shortcomings of conventional torque sensors. It is experimentally shown in various ways that the proposed joint torque sensor can properly deal with the crosstalk and thus accurately measure the torque of interest. Furthermore, it is found that the torsional stiffness of the sensor is large enough to minimize a reduction in overall arm stiffness, and its ring-type structure allows the sensor to be used without increasing the volume of the joint module.

KW - Collaborative robot

KW - Joint module

KW - Joint torque sensor

KW - Robot arm

UR - http://www.scopus.com/inward/record.url?scp=85071718482&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85071718482&partnerID=8YFLogxK

U2 - 10.1016/j.mechatronics.2019.102265

DO - 10.1016/j.mechatronics.2019.102265

M3 - Article

AN - SCOPUS:85071718482

VL - 63

JO - Mechatronics

JF - Mechatronics

SN - 0957-4158

M1 - 102265

ER -