Schuller, Robert und Reinecke, Jens und Maurenbrecher, Henry und Ott, Christian und Albu-Schäffer, Alin Olimpiu und Deutschmann, Bastian und Büttner, Fred und Heim, Jens und Benkert, Frank und Glück, Stefan (2024) An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints. Frontiers in Robotics and AI, 11. Frontiers Media S.A. doi: 10.3389/frobt.2024.1416360. ISSN 2296-9144.
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Offizielle URL: https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1416360/full
Kurzfassung
The idea of sensorizing a strain wave gear to measure the transmitted torque has been reported since the 1980s. The strain in the elastic flex spline is typically measured by strain gauges attached to it. The resulting voltages relate to the transmitted torque in the gear. However, periodic inaccuracies in the measured torque signal (sensing ripple), resulting from positioning inaccuracies of strain gages on the flex spline, prevented this technology from being used outside a lab environment. Regardless of these difficulties, measuring the torque directly in the strain wave gear would bring many advantages, especially in robotic applications, where design space is highly limited. Traditionally, robotic joints are equipped with link-sided torque sensors, which reduce the available design volume, lower the joint stiffness, and require complex cable routing. This paper presents an experimental study of a novel sensorized strain wave gear named RT1-T, which was developed by Schaeffler Technologies. The study was implemented on a joint testbed, including a high-resolution reference torque sensor at the link side. In addition to the measurement accuracy and linearity, a torque ripple analysis is performed. The joint torque control capabilities are determined along dynamic trajectories and compared to the performance achieved with a link-sided reference sensor. The sensor employed in the testbed has a static torque error of 0.42 Nm and an average closed-loop torque control error of 0.65 Nm above the reference sensor.
elib-URL des Eintrags: | https://elib.dlr.de/206271/ | ||||||||||||||||||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||||||||||||||||||
Titel: | An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints | ||||||||||||||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 9 August 2024 | ||||||||||||||||||||||||||||||||||||||||||||
Erschienen in: | Frontiers in Robotics and AI | ||||||||||||||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||||||||||||||||||
Gold Open Access: | Ja | ||||||||||||||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||||||||||||||||||
Band: | 11 | ||||||||||||||||||||||||||||||||||||||||||||
DOI: | 10.3389/frobt.2024.1416360 | ||||||||||||||||||||||||||||||||||||||||||||
Verlag: | Frontiers Media S.A | ||||||||||||||||||||||||||||||||||||||||||||
ISSN: | 2296-9144 | ||||||||||||||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||||||||||||||
Stichwörter: | robotic joint, torque control, joint torque sensing, sensorized strain wave gear, collaborative robot, experimental study | ||||||||||||||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||||||||||||||||||
Hinterlegt von: | Schuller, Robert | ||||||||||||||||||||||||||||||||||||||||||||
Hinterlegt am: | 09 Sep 2024 16:09 | ||||||||||||||||||||||||||||||||||||||||||||
Letzte Änderung: | 09 Sep 2024 16:09 |
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