Related Experiment Video
Updated: Jul 31, 2025
10:41
Method to Measure Tone of Axial and Proximal Muscle
Published on: December 14, 2011
17.6K
Design, optimization, and crosstalk analysis for robot joint torque sensor of shear beam structure
Xiliang Chen1, Zhengyu Xie2, Yiwen Sun2
1School of Intelligent Manufacturing, Taizhou University, Taizhou 318000, Zhejiang, China.
The Review of Scientific Instruments
|May 3, 2023
Summary
This study optimized a shear beam Joint Torque Sensor (JTS) for collaborative robots, significantly improving crosstalk resistance. The new design meets engineering requirements with enhanced accuracy and reliability in demanding applications.
Area of Science:
- Robotics Engineering
- Mechanical Sensor Design
- Measurement Science
Background:
- Crosstalk resistance is crucial for Joint Torque Sensor (JTS) accuracy in collaborative robots.
- Limited research exists on the crosstalk resistance of shear beam-type JTS.
- Accurate torque sensing is vital for safe and efficient robot operation.
Purpose of the Study:
- To propose and optimize a novel shear beam sensor structure for enhanced crosstalk resistance.
- To establish multi-objective optimization equations for sensitivity, stiffness, and crosstalk resistance.
- To validate the performance of the optimized sensor through simulation and experimentation.
Main Methods:
- Designed a shear beam sensor mechanical structure and determined strain gauge working area.
- Developed multi-objective optimization equations considering sensitivity, stiffness, and crosstalk resistance.
- Utilized the response surface method and multi-objective genetic algorithm for parameter optimization.
Main Results:
- Achieved overload resistance of 300% F.S. and high torsional/bending stiffness.
- Demonstrated a measurement error <0.5% F.S. under significant crosstalk loads (Fx, Fz).
- Verified excellent overall performance, including sensitivity (25.71 mV/N m) and linearity (0.1999%).
Conclusions:
- The optimized shear beam JTS exhibits superior crosstalk resistance, particularly axial.
- The sensor meets stringent engineering requirements for collaborative robot applications.
- This work advances the development of high-performance torque sensors for robotics.
Related Concept Videos
01:15Design of Transmission Shafts - Stress Analysis
421
Designing a transmission shaft requires a thorough understanding of the stresses induced by bending moments and torques, especially in systems where power is transferred through gears. These forces create force-couple systems at the centers of the shaft's cross-sections, leading to both transverse and torsional loading. Although shearing stresses from transverse loads are typically smaller than those from torques and are often overlooked, the significant normal stresses from these loads...
421
01:14Shearing Stresses in a Beam: Problem Solving
271
A cantilever beam with a rectangular cross-section under distributed and point loads experiences shearing stresses. The analysis begins by identifying the loads acting on the beam. Then, the reactions at the beam's fixed end are calculated using equilibrium equations. The vertical reaction is a combination of the distributed and point loads, while the moment reaction is the sum of their moments. The shear force distribution along the beam, resulting from these loads, is established by...
271
01:16Design of Transmission Shafts
396
The design of a transmission shaft is governed by two primary specifications: the power it transmits and its rotational speed. These parameters guide the selection of the shaft's material and cross-sectional dimensions, ensuring that the material's maximum shearing stress remains within the elastic limit while transmitting the desired power at the given speed. The system's power is intrinsically linked to the applied torque. The torque applied to the shaft can be calculated by...
396
01:17Beams with Unsymmetric Loadings
150
Analyzing a supported beam under unsymmetrical loadings is essential in structural engineering to understand how beams respond to varied force distributions. This analysis involves calculating the deflection and identifying points where the slope of the beam is zero, which are crucial for ensuring structural stability and functionality.
The first moment-area theorem determines the slope at any point on the beam. This theorem indicates that the change in slope between two points on a beam...
The first moment-area theorem determines the slope at any point on the beam. This theorem indicates that the change in slope between two points on a beam...
150
01:15Thin-Walled Hollow Shafts
218
In analyzing a thin-walled hollow shaft subjected to torsional loading, a segment with width dx is isolated for examination. Despite its equilibrium state, this segment faces torsional shearing forces at its ends. These forces are quantitatively described by the product of the longitudinal shearing stress on the segment's minor surface and the area of this surface, leading to the concept of shear flow. This shear flow is consistent throughout the structure, indicating a uniform distribution...
218
01:15Beams with Symmetric Loadings
223
The moment-area method is an analytical tool used in structural engineering to determine the slope and deflection of beams under various loads. Consider a cantilever with a concentrated load and moment at the free end. The first step is constructing a free-body diagram to calculate the reactions at the fixed end. Next, the bending moment diagram is plotted to visualize how the bending moment varies along the beam's length, focusing on points where the bending moment equals zero.
The M/EI...
The M/EI...
223