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ICRA
2000
IEEE

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

9 years 4 months ago
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
Minoru Hashimoto, Takashi Ishizuka, Ivan Godler, M
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Minoru Hashimoto, Takashi Ishizuka, Ivan Godler, Masashi Horiuchi
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