Method for measuring output torque of flexible gear of harmonic reducer

Abstract

The invention relates to a method for measuring the output torque of a flexible gear of a harmonic reducer, and relates to a measuring method. The method comprises the following steps that eight strain gauges are uniformly arranged on the surface of the flexible gear of the harmonic reducer along the circumferential direction of the flexible gear of the harmonic reducer; the length direction of each strain gauge is equal to the acute angle of the included angle of the radial lines on the flexible gear passing through the center of the strain gauge, and the strain gauges of even number and oddnumber are arranged alternately; the eight strain gauges are connected according to a full-bridge circuit as follows: the first strain gauge and the third strain gauge are connected to form a first side, the second strain gauge and the fourth strain gauge are connected to form a second side, the fifth strain gauge and the seventh strain gauge are connected to form a third side, the sixth strain gauge and the eighth strain gauge are connected to form a fourth side, and the eight strain gauges are connected according to the full bridge circuit; and an output torque is calculated according to anvoltage output. The method for measuring the output torque of the flexible gear of the harmonic reducer has the characteristics of direct measurement, simple and convenient calculation and no extra flexibility brought to the harmonic reducer.

Description

technical field [0001] The invention relates to a measuring method, in particular to a measuring method for the flexible output torque of a harmonic reducer. It belongs to the technical field of torque detection. Background technique [0002] At present, for the control of the robot, the torque sensor is a necessary sensing device to realize the force feedback control of the robot. At present, most of the existing torque sensors for robots are installed at the end of the robot joints. This measurement method requires complex mathematical modeling of the robot. It is necessary to calculate the joint torque of the robot to accurately obtain the joint torque, so that the process of measuring torque Complicated, with a huge amount of computation. This method of installing torque sensors at the ends of robot joints is an indirect measurement of torque, which reduces the reliability of robot force feedback control. Contents of the invention [0003] The present invention prop...

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Problems solved by technology

[0003] The present invention proposes a harmonic deceleration method to solve the problems in the existing robot force feedback control that it is difficult to accurately obtain the torque at the end of the joint, and the process of calculating the joint force by modeling the robot is complicated and the indirect measurement is inaccurate. Measuring method of output torque of flexible spline

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