The Key Studies Of The Novel Embedded Torque Sensor Used In Compliant Joint

With the development of smart technology,increasingly importance has been attached to the studies of embedded torque sensor which is used for acquiring the force information and to supporting the robot control in joint.This paper focuses on the design of a new high-reliable,lightweight,compact size and less influence by electric noise for robot arm enabling the torque measurement in joint to ensure safety while performing tasks of physical interaction with human and unstructured environment.Though compared of the different types of measurement,we firstly built the key parts of torque sensor,which are the elastic element,sensing element and its type of integrate.Flexure spring is introduced as the elastic element of the torque sensor in this paper.Thanks to this structure,we can build a torque sensor as an extremely compact size with a high-reliable.To ensure its feasibility,the analysis was conducted both in theory and FEM.And according to the analysis results,the optimal structure that fitted to the specific robot joint is selected to make the topology optimization.In the last,the calibration and several experiments,like the experiment of linearity,hysteresis,repeatability and the shift,are conducted to complete the studies of the novel embedded torque sensor.