Velocity Dependence of the Characteristics of Harmonic Drive Built-in Torque Sensing

We have proposed the practical torque sensqng which utilizes a flexible part of a harmonic drive gear. The sensing technique providesjoint torque sensing without reducing stiffness of the robot and changing the mechanical structure of the joints. The characteristics of the torque sensing have been studied under immovable condition. The dependence of characteristics on the rotational velocity have not been discus:wd. In this paper we describe the characteristics under rotational conditions of the harmonic drive. The experimental results show that the accuracy of the torque sen.singunder high velocity rotation is 2 % level of the gear torque capacity. Key Words : torque sensing, strain gauge, harmonic drive gear, force control, whole ann manipulator, humanoid robot

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Minoru Hashimoto, Takashi Ishizuka, Ivan Godler, Masashi Horiuchi
• Keywords: Harmonic Drive Gear, ICRA 2000, Practical Torque Sensqng, Robotics, Torque