关键词: 一体化关节力矩测量, 自感知谐波减速器, 柔轮应力变形分析, 有限元仿真

Abstract: Accurate measurement of the force output of joints is the key to the application of collaborative robots,and there are different defects in the current joint torque measurement schemes. In order to measure the joint torque of robotic integration more accurately, a torque self-aware measurement scheme is proposed to integrate torque sensors on the flexible wheel of a harmonic reducer. The mechanical characteristics of the flexible wheel of the harmonic reducer and the principle of torque measurement are analyzed to prove the theoretical reasonableness of the torque measurement scheme,and the circumferential layout scheme of the torque sensor on the flexible wheel is derived. The axial layout scheme of the torque sensor is determined through static simulation and flexible wheel finite element test. Transient dynamic simulation analysis is conducted on the harmonic reducer, and the results show that the total deformation of the flexible wheel cylinder gradually decreased with the increase of load, which verifies the feasibility of the joint torquet measurement scheme and provides theoretical support for the successful development of the self-aware harmonic reducer.

Key words: integrated joint torque measurement, self sensing harmonic reducer, stress and deformation analysis of flexible wheels, finite element simulation