This work describes the design of a new one-axis torque sensor. It achieves the conflicting requirements of high stiffness for all six force and torque components, high sensitivity for the one driving torque of interest, and yet very low sensitivity for the other five force/torque components. These properties, combined with its donut shape and small size, make this sensor an ideal choice for direct-drive robotic applications. Experimental data validate the basic design ideas underlying the sensor’s geometry, the finite element model used in its optimization, and the advertised performance.
Get full access to this article
View all access options for this article.
References
1.
Aghili, F., Buehler, M., and Hollerbach, J. M. 1997a. Dynamics and control of direct-drive robots with positive joint torque feedback . Proceedings of the IEEE International Conference on Robotics and Automation, April, pp. 1156–1161 .
2.
Aghili, F., Buehler, M., and Hollerbach, J. M. 1997b. A joint torque sensor for robots . ASME International Mechanical Engineering Congress & Exposition, Dallas, TX, November.
3.
Aghili, F., Buehler, M., and Hollerbach, J. M. 1998a. Disturbance attenuation and load decoupling with h infinity positive joint torque feedback . Proceedings of the IEEE International Conference on Robotics and Automation, May, pp. 3613–3618 .
4.
Aghili, F., Buehler, M., and Hollerbach, J. M. 1998b. Sensing the torque in a robot’s joint . ASME Mechanical Engineering120(9): 66–69 .
5.
Aghili, F., Buehler, M., and Hollerbach, J. M. 2000. Development of a high performance direct-drive joint . Proceedings of the IEEE/RSJ International Conference on Intelligent Systems and Robots, Japan, October, pp. 2151–2158 .
6.
Aghili, F., Buehler, M., and Hollerbach, J. M. 2001. Motion control systems with h-infinity positive joint torque feedback . IEEE Transactions on Control Systems Technology9(5): 685–695 .
Asada, H., and Lim, S.-K. 1985. Design of joint torque sensors and torque feedback control for direct-drive arms . ASME Winter Annual Meeting: Robotics and Manufacturing Automation, PED-vol. 15, Miami Beach, FL, November, pp. 277–284 .
9.
Asada, H., and Youcef-Toumi, K. 1987. Direct-Drive Robots. Cambridge, MA: MIT Press .
10.
deSilva, C. W., Price, T. E., and Kanade, T. 1987. Torque sensor for direct-drive manipulator . ASME Journal of Engineering for Industry109: 122–127 .
11.
Hashimoto, M. 1989. Robot motion control based on joint torque sensing . Proceedings of the IEEE International Conference on Robotics and Automation, pp. 256–261 .
12.
Hashimoto, M., Kiyosawa, Y., and Paul, R. P. 1993. A torque sensing technique for robots with harmonic drives . IEEE Transactions on Robotics and Automation9: 108–116 .
13.
Himmelstein, S., and Company. 1991. MCRT Torquemeter. Technical manual. Hoffman Estates, IL: Himmelstein and Company .
14.
Hirose, S., and Yoneda, K. 1990. Development of optical 6-axial force sensor and its signal calibration considering non-linear interference . Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, OH, May, pp. 46–53 .
15.
Hirzinger, G., et al. 1994. Rotex—the first remotely controlled robot in space . Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, May.
16.
Hirzinger, G., et al. 2001. On a new generation of torque controlled light-weight robots . Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May, pp. 3356–3363 .
17.
Jacobsen, S. C., Smith, F. M., Backman, D. K., and Iversen, E. K. 1991. High performance, high dexterity, force reflective teleoperator ii . ANS Topical Meeting on Robotics and Remote Systems, Albuquerque, NM, February, pp. 24–27 .
18.
Joo, J. W., Lee, H. G., and Kang, D. I. 1998. Design and strain analysis of the hollow cruciform-type torque sensor . Proceedings of the SEM Spring Conference on Experimental and Applied Mechanics, Houston, TX, June, pp. 523–525 .
19.
Kosuge, K., Takeuchi, H., and Furuta, K. 1990. Motion control of a robot arm using joint torque sensors . IEEE Transactions on Robotics and Automation6(2): 258–263 .
Luh, J.Y.S., Fisher, W. D., and Paul, R.P.C. 1983. Joint torque control by a direct feedback for industrial robot . IEEE Transactions on Automatic Control28: 153–161 .
22.
Newman, W. S., and Patel, J. J. 1991. Experiments in torque control of the adept-one robot . Proceedings of the IEEE International Conference Robotics and Automation, April, pp. 1867–1872 .
23.
Omega. 1995. The Pressure Strain and Force Handbook. Technical Manual 29. Stamford, CT: Omega .
24.
Pfeffer, L. E., Khatib, O., and Hake, J. 1989. Joint torque sensory feedback in the control of a puma manipulator . IEEE Transactions on Robotics and Automation5(2): 418–425 .
25.
Shigley, J. E. 1989. Mechanical Engineering Design. New York: McGraw-Hill .
26.
Stokic, D., and Vukobratovic, M. 1993. Historical perspectives and state of the art in joint force sensory feedback control of manipulation robots . Robotica11: 149–157 .
27.
Svinin, M. M., and Uchiyama, M. 1995. Optimal geometric structures of force/torque sensors . International Journal of Robotics Research14(6): 560–573 .
28.
Tani, Y., Hatamura, Y., and Nagao, T. 1983. Development of small three component dynamometer for cutting force measurement . Bulletin of the JSME26(214).
Uchiyama, M., Bayo, E., and Palma-Villalon, E. 1991. A systematic design procedure to minimize a performance index for robot force sensors . Journal of Dynamic Systems, Measurement, and Control113: 388–394 .
31.
Vischer, D., and Khatib, O. 1990. Design and Development of Torque-Controlled Joints. New York: Springer-Verlag .
32.
Vischer, D., and Khatib, O. 1995. Design and development of high-performance torque-controlled joints . IEEE Transactions on Robotics and Automation11: 537–544 .
33.
Wu, C.-H. 1985. Compliance control of a robot manipulator based on joint torque servo . International Journal of Robotics Research4(3): 55–71 .
34.
Wu, C.-H., and Paul, R. P. 1980. Manipulator compliance based on joint torque control . Proceedings of the IEEE International Conference on Decision and Control, December, pp. 88–94 .
35.
Zhang, G., and Furusho, J. 1998. Control of robot arms using joint torque sensors . IEEE Control Systems18(1): 48–54 .
