Integrated joint module with torque sensing and energy self-recovery and design method

By integrating a full-bridge strain gauge array and a nonlinear elastic torsion model into the joint module, combining an adaptive Kalman filter algorithm for torque sensing, and utilizing supercapacitors and DC-DC converters for energy recovery, the problems of insufficient torque sensing accuracy and energy loss in existing technologies are solved, thereby improving the system's stability and endurance.

CN121756360BActive Publication Date: 2026-05-26NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NORTHWESTERN POLYTECHNICAL UNIV
Filing Date
2026-03-03
Publication Date
2026-05-26

AI Technical Summary

Technical Problem

Existing joint modules suffer from insufficient accuracy in torque sensing due to nonlinear interference from the reducer, significant energy loss during long-distance transmission of braking energy, and unstable bus voltage, lacking an efficient energy recovery mechanism.

Method used

A full-bridge strain gauge array combined with a nonlinear elastic torsion model and an adaptive Kalman filter algorithm is used for torque sensing, and energy recovery is achieved through supercapacitors and DC-DC converters. An energy feedback model and thermal balance constraints are constructed to manage electrical energy.

Benefits of technology

It achieves high-precision torque sensing and energy self-recovery, reduces transmission loss over long distances on the bus, and improves system stability and endurance.

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Abstract

This invention relates to the field of robot actuator technology, specifically disclosing an integrated joint module with torque sensing and energy self-recovery, and its design method. The method includes: constructing the physical architecture of the joint module; constructing a nonlinear elastic torsional model and a dynamic friction model of the harmonic reducer to calculate and derive the torque; calculating the physical sampling torque; fusing the derived torque and the physical sampling torque using an adaptive Kalman filter to obtain the final torque signal; constructing an energy feedback model under motor braking mode, and calculating the instantaneous flow of recoverable electrical energy in real time based on the energy feedback model when the joint module decelerates or is dragged by an external force; introducing a supercapacitor and a DC-DC converter for energy recovery; and releasing the energy stored in the supercapacitor to the DC bus when the joint module starts up or enters the acceleration phase. This invention can effectively eliminate nonlinear transmission interference caused by the harmonic reducer and can achieve on-site recovery of braking kinetic energy and peak power assistance.
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