Design of joint torque sensor with reduced torque ripple for a robot manipulator

In Moon Kim, Hwi Su Kim, Jae-Bok Song

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

Joint torque sensors are widely used in service robots for force control and collision detection. However, commercial torque sensors and amplifiers are too bulky to install inside robots. In this study, we propose an amplifier-embedded torque sensor because placing the amplifier away from the sensor tends to add noise to the output signal. Furthermore, joint torque sensors experience the torque ripple generated by the harmonic drive gear. Therefore, a torque ripple reduction method is also proposed in this study. FEM analysis was conducted to improve the sensitivity of the torque sensor to only torques in the direction of joint rotation. To avoid external noise and excessive wiring, an embedded amplifier, which can be installed inside the joint of the robot arm with the torque sensor, was developed. Also, the torque ripple reduction method based on the change in the installation position of Wheatstone bridges was developed. Through various experiments, the performance of the proposed torque sensor was verified.

Original languageEnglish
Pages (from-to)1773-1779
Number of pages7
JournalInternational Journal of Precision Engineering and Manufacturing
Volume13
Issue number10
DOIs
Publication statusPublished - 2012 Oct 1

Fingerprint

Manipulators
Torque
Robots
Sensors
Force control
Electric wiring
Gears
Finite element method

Keywords

  • Harmonic drive
  • Joint torque sensor
  • Service robot manipulator
  • Torque ripple

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Design of joint torque sensor with reduced torque ripple for a robot manipulator. / Kim, In Moon; Kim, Hwi Su; Song, Jae-Bok.

In: International Journal of Precision Engineering and Manufacturing, Vol. 13, No. 10, 01.10.2012, p. 1773-1779.

Research output: Contribution to journalArticle

@article{1543f710e11f472187d1fd067ac48e0b,
title = "Design of joint torque sensor with reduced torque ripple for a robot manipulator",
abstract = "Joint torque sensors are widely used in service robots for force control and collision detection. However, commercial torque sensors and amplifiers are too bulky to install inside robots. In this study, we propose an amplifier-embedded torque sensor because placing the amplifier away from the sensor tends to add noise to the output signal. Furthermore, joint torque sensors experience the torque ripple generated by the harmonic drive gear. Therefore, a torque ripple reduction method is also proposed in this study. FEM analysis was conducted to improve the sensitivity of the torque sensor to only torques in the direction of joint rotation. To avoid external noise and excessive wiring, an embedded amplifier, which can be installed inside the joint of the robot arm with the torque sensor, was developed. Also, the torque ripple reduction method based on the change in the installation position of Wheatstone bridges was developed. Through various experiments, the performance of the proposed torque sensor was verified.",
keywords = "Harmonic drive, Joint torque sensor, Service robot manipulator, Torque ripple",
author = "Kim, {In Moon} and Kim, {Hwi Su} and Jae-Bok Song",
year = "2012",
month = "10",
day = "1",
doi = "10.1007/s12541-012-0233-x",
language = "English",
volume = "13",
pages = "1773--1779",
journal = "International Journal of Precision Engineering and Manufacturing",
issn = "1229-8557",
publisher = "Korean Society of Precision Engineering",
number = "10",

}

TY - JOUR

T1 - Design of joint torque sensor with reduced torque ripple for a robot manipulator

AU - Kim, In Moon

AU - Kim, Hwi Su

AU - Song, Jae-Bok

PY - 2012/10/1

Y1 - 2012/10/1

N2 - Joint torque sensors are widely used in service robots for force control and collision detection. However, commercial torque sensors and amplifiers are too bulky to install inside robots. In this study, we propose an amplifier-embedded torque sensor because placing the amplifier away from the sensor tends to add noise to the output signal. Furthermore, joint torque sensors experience the torque ripple generated by the harmonic drive gear. Therefore, a torque ripple reduction method is also proposed in this study. FEM analysis was conducted to improve the sensitivity of the torque sensor to only torques in the direction of joint rotation. To avoid external noise and excessive wiring, an embedded amplifier, which can be installed inside the joint of the robot arm with the torque sensor, was developed. Also, the torque ripple reduction method based on the change in the installation position of Wheatstone bridges was developed. Through various experiments, the performance of the proposed torque sensor was verified.

AB - Joint torque sensors are widely used in service robots for force control and collision detection. However, commercial torque sensors and amplifiers are too bulky to install inside robots. In this study, we propose an amplifier-embedded torque sensor because placing the amplifier away from the sensor tends to add noise to the output signal. Furthermore, joint torque sensors experience the torque ripple generated by the harmonic drive gear. Therefore, a torque ripple reduction method is also proposed in this study. FEM analysis was conducted to improve the sensitivity of the torque sensor to only torques in the direction of joint rotation. To avoid external noise and excessive wiring, an embedded amplifier, which can be installed inside the joint of the robot arm with the torque sensor, was developed. Also, the torque ripple reduction method based on the change in the installation position of Wheatstone bridges was developed. Through various experiments, the performance of the proposed torque sensor was verified.

KW - Harmonic drive

KW - Joint torque sensor

KW - Service robot manipulator

KW - Torque ripple

UR - http://www.scopus.com/inward/record.url?scp=84870550462&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84870550462&partnerID=8YFLogxK

U2 - 10.1007/s12541-012-0233-x

DO - 10.1007/s12541-012-0233-x

M3 - Article

AN - SCOPUS:84870550462

VL - 13

SP - 1773

EP - 1779

JO - International Journal of Precision Engineering and Manufacturing

JF - International Journal of Precision Engineering and Manufacturing

SN - 1229-8557

IS - 10

ER -