The International Journal of Robotics Research

 

Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Click here to register and gain free access

Click here for more information

Sign In to gain access to subscriptions and/or personal tools.
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in ISI Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Google Scholar
Google Scholar
Right arrow Articles by Aghili, F.
Right arrow Articles by Hollerbach, J. M.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati  
What's this?
The International Journal of Robotics Research, Vol. 20, No. 12, 967-976 (2001)
DOI: 10.1177/02783640122068227

Design of a Hollow Hexaform Torque Sensor for Robot Joints

Farhad Aghili

Canadian Space Agency, Saint-Hubert, Québec, J3Y 8Y8, Farhad.Aghili{at}space.gc.ca

Martin Buehler

Department of Mechanical Engineering, McGill University, Montreal, Quebec, Canada H3A 2A7buehler{at}cim.mcgill.ca

John M. Hollerbach

Department of Computer Science, University of Utah, Salt Lake City, UT 84112, USAjmh{at}cs.utah.edu

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.

Key Words: torque sensor • robot joint • joint torque control


Add to CiteULike CiteULike   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati    What's this?