Torque Sensor Damping for Wave Gear Ripple Reduction
Solution Overview
Problem
Existing torque sensors face challenges in accurately detecting torque due to torque ripple caused by speed reducers with wave gear mechanisms, leading to reduced detection accuracy and errors in torque measurement.
Innovation Solution
Incorporating a damping part in the transmission path between the speed reducer and the torque sensor to damp the transmission of torque, which reduces the influence of torque ripple and improves detection accuracy by using a damping member, such as a metal gasket, between the circular spline of the speed reducer and the inner peripheral part of the torque sensor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If a speed reducer with a wave gear mechanism is used to increase torque, then torque amplification is achieved, but torque ripple is generated that reduces detection accuracy
Solution Approach 1:
A damping part is introduced as an intermediary component between the speed reducer and the torque sensor. This damping part acts as a mediator that transmits the necessary torque while filtering out the harmful torque ripple, allowing both torque amplification and accurate detection to coexist.
Solution Approach 2:
The damping part converts the harmful torque ripple into beneficial damping effects. By using materials with specific damping characteristics, the harmful vibrations and torque fluctuations are transformed into energy dissipation, protecting the torque sensor from inaccurate readings while maintaining the torque amplification function.
2Device complexity
If the speed reducer is positioned close to the torque sensor for compact design, then device compactness is improved, but torque ripple transmission increases reducing detection accuracy
Solution Approach 1:
The damping part serves as a compact intermediary that fits between the speed reducer and torque sensor, maintaining close positioning for device compactness while simultaneously blocking the transmission of torque ripple to ensure accurate detection.
3Measurement precision
If damping material is added to reduce torque ripple, then detection accuracy is improved, but device complexity and manufacturing difficulty increase
Solution Approach 1:
Instead of adding complex damping systems throughout the device, the damping property is applied locally at the critical interface between the speed reducer and torque sensor. The damping part is a localized component with specific damping material properties, simplifying the overall device structure while effectively reducing torque ripple.
Solution Approach 2:
The damping part utilizes composite material structures combining materials with different properties - typically a rigid outer structure for mechanical strength and an inner layer of damping material for vibration absorption. This composite approach achieves effective torque ripple reduction while maintaining structural integrity and simplifying design.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The damping part effectively reduces torque ripple, enhancing torque detection accuracy by minimizing the impact of speed reducer vibrations, thereby improving the overall performance of the torque sensor.
Implementation Method 1
a damper that is positioned in a transmission path of the second torque from the speed reducer to the torque sensor and damps transmission of the second torque
Data Source
AI summary
A robot includes a speed reducer that increases a first torque output from a motor and outputs a second torque, a torque sensor including an output part that outputs the second torque output from the speed reducer, and a sensor part that detects at least a torque applied to the output part, and a damper that is positioned in a transmission path of the second torque from the speed reducer to the torque sensor and damps transmission of the second torque.