研究生: |
Dai-Dong Nguyen Dai-Dong Nguyen |
---|---|
論文名稱: |
機械手臂關節扭矩感測器設計與開發 Design and Development of a Robot Joint Torque Sensor |
指導教授: |
郭重顯
Chung-Hsien Kuo |
口試委員: |
黃漢邦
Han-Pang Huang 蘇順豐 Shun-Feng Su 顏炳郎 Ping-Lang Yen 蔣欣翰 Hsin-Han Chiang 郭重顯 Chung-Hsien Kuo |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 電機工程系 Department of Electrical Engineering |
論文出版年: | 2021 |
畢業學年度: | 109 |
語文別: | 英文 |
論文頁數: | 76 |
中文關鍵詞: | Joint torque sensor 、Structural design 、Noise reduction 、Optimal design |
外文關鍵詞: | Joint torque sensor, Structural design, Noise reduction, Optimal design |
相關次數: | 點閱:447 下載:0 |
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Force detection is an important indicator of a robot’s interaction with the working environment. Therefore, accurate and sensitive torque sensor design and development are important. This study proposed a robot joint torque sensor design and optimization based on a strain gauge and through-hole spoke structure topology to detect the external force with high sensitivity and low noise. A through-hole spoke type with a novel inclination sensing surface (ISS) was proposed, and the optimization design improved the strain gauge placement position and focused stress arrangement. Three optimization objectives were desired to enhance the joint torque sensor sensitivity with guaranteed stiffness. A sensor signal processing circuit was also introduced to obtain low-noise output signal performance. The experimental results showed that the joint torque sensor had a high sensitivity of 1.65 mV/Nm before amplification. This sensor was compared with a previous study and a commercial torque sensor. The prototype torque sensor indicated high sensitivity and low error.
Force detection is an important indicator of a robot’s interaction with the working environment. Therefore, accurate and sensitive torque sensor design and development are important. This study proposed a robot joint torque sensor design and optimization based on a strain gauge and through-hole spoke structure topology to detect the external force with high sensitivity and low noise. A through-hole spoke type with a novel inclination sensing surface (ISS) was proposed, and the optimization design improved the strain gauge placement position and focused stress arrangement. Three optimization objectives were desired to enhance the joint torque sensor sensitivity with guaranteed stiffness. A sensor signal processing circuit was also introduced to obtain low-noise output signal performance. The experimental results showed that the joint torque sensor had a high sensitivity of 1.65 mV/Nm before amplification. This sensor was compared with a previous study and a commercial torque sensor. The prototype torque sensor indicated high sensitivity and low error.
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