Abstract: A wheel type robot joint torque sensor is designed and it is mainly used for real-time detection of robot joint torque,robot flexible control and human-computer collaboration.In order to study the torque sensor of robot,the mechanical analysis of the robot is carried out firstly,and the position of the strain is determined.Then the deformation of the strain is analyzed,and the choice of the material and the optimization of the material are analyzed by using the finite element analysis software.At the same time,the sensor signal processing circuit was designed.Finally,through the calibration of sensor static calibration device,got the sensitivity,linearity,hysteresis error and other performance indicators.

Key words: modular joint, robot flexibility, stress-strain, Wheatstone bridge