Title :
Performance test equipment design of a 1 DOF joint torque sensor
Author :
Chanhun Park ; Hyun Min Do ; Gwang Jo-Jung ; Byung-In Kim
Author_Institution :
Dept. of Robot. & Mechatron., Korea Inst. of Machinery & Mater., Daejeon, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
There are many reasons to use 1 DOF joint torque sensor at each joints of the robot manipulator. 1 DOF joint torque sensor is designed to sensitively measure 1 DOF rotational torque induced by a BLDC motor and reduction train. Also it has to be insensitive to 5 DOF forces and moments which are not induced by a BLDC motor and reduction. But actually, the 1 DOF torque sensor has sensing error and it cannot be perfectly insensitive to the forces and moments not-induced by the motor. In this reason, a performance-test-equipment has been designed to measure the performance of the joint torque sensor mentioned above. In this paper, the research results will be introduced.
Keywords :
brushless DC motors; manipulators; torque measurement; torquemeters; 1 DOF joint torque sensor; 1 DOF rotational torque; BLDC motor; performance test equipment design; reduction train; robot manipulator; Joint torque sensor; Resolution; Sensitivity;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677450