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Development of a Spoke Type Torque Sensor Using Painting Carbon Nanotube Strain Sensors
Sung Yong Kim1, Se Hoon Park2, Baek Gyu Choi1
1Department of Mechanical Design and Engineering, Pukyong National University, Busan, KS012, Korea.
Abstract:
This study reports a hub-spoke type joint torque sensor involving strain gauges made of multiwalled carbon nanotubes (MWCNT). We developed the novel joint torque sensor for robots by means of MWCNT/epoxy strain sensors (0.8 wt%, gauge factor 2) to overcome the limits of conventional foil strain gauges. Solution mixing process was hired to fabricate a liquid strain sensor that can easily be installed on any complicated surfaces. We painted the MWCNT/epoxy mixing liquid on the hub-spoke type joint torque sensor to form the piezoresistive strain gauges. The painted sensor converted its strain into torque by mean of the installed hub-spoke structure after signal processing. We acquired sufficient torque voltage responses from the painted MWCNT/epoxy strain sensor.
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