Compact and lightweight optical torque sensor for robots with increased range
- Authors
- Shams, Sarmad; Lee, Ji Yeong; Han, Changsoo
- Issue Date
- Jan-2012
- Publisher
- Elsevier BV
- Keywords
- Compact sensor; Optical technique; Robot; Nigh range; Torque sensor
- Citation
- Sensors and Actuators, A: Physical, v.173, no.1, pp.81 - 89
- Indexed
- SCIE
SCOPUS
- Journal Title
- Sensors and Actuators, A: Physical
- Volume
- 173
- Number
- 1
- Start Page
- 81
- End Page
- 89
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/33919
- DOI
- 10.1016/j.sna.2011.10.019
- ISSN
- 0924-4247
- Abstract
- This paper describes the development of a compact and lightweight optical torque sensor for robots with increased range. The torque generated can only be measured by placing a torque sensor on each joint, which makes the joint bulky and heavy adding extra load to be carried by robots. In this paper, we propose a compact and lightweight design for the torque sensor. This sensor can measure torque of robot's links by detecting torsion. The optical technique is used to detect angular displacement in the joints. As optical technique is immune to electromagnetic interference, light weight, and it also required simple electronics. The torque can be calculated by using torque and twist angle relation. The proposed design is simulated by FEM software (ANSYS), and it shows successful measurements of the torque with a load capacity of 100 Nm, which is sufficient for the torque generated in robot's joints. The designed optical torque sensor is manufactured by electrical discharge machining (EDM). The optical torque sensor is calibrated and several experiments are conducted to ensure its feasibility with the robot. (C) 2011 Elsevier B.V. All rights reserved.
- Files in This Item
-
Go to Link
- Appears in
Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/33919)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.