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http://dx.doi.org/10.3795/KSME-A.2016.40.2.133

Joint Module with Joint Torque Sensor Having Disk-type Coupling for Torque Error Reduction  

Min, Jae-Kyung (School of Mechanical Engineering, Korea Univ.)
Kim, Hwi-Su (School of Mechanical Engineering, Korea Univ.)
Song, Jae-Bok (School of Mechanical Engineering, Korea Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.40, no.2, 2016 , pp. 133-138 More about this Journal
Abstract
Force control and collision detection for a robot are usually conducted using a 6-axis force/torque sensor mounted at the end-effector. However, this scheme suffers from high-cost and the inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, which also suffered from various errors in torque measurement. To resolve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque under consideration. This joint design also aims to reduce the stress induced during the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.
Keywords
Joint Torque Sensor; Robot Joint Module; Disk-Type Coupling; Torque Measurement; Moment Load;
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Times Cited By KSCI : 1  (Citation Analysis)
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