Research on Structural Optimization of High-Sensitivity Torque Sensors for Robotic Joints.

Area of Science:

• Robotics and Mechanical Engineering
• Sensor Technology
• Materials Science

Background:

• Robotic manipulators require real-time, high-precision torque perception for complex tasks.
• Existing joint torque sensors face limitations in sensitivity and material efficiency.
• Optimization of elastic body structures is crucial for enhancing sensor performance.

Purpose of the Study:

• To design and optimize a novel hourglass-hole spoke-type elastic body for joint torque sensors.
• To improve material utilization and output sensitivity of the torque sensor.
• To establish an efficient optimization framework for sensor design.

Main Methods:

• Parametric optimization study of a novel hourglass-hole spoke-type elastic body.
• Single-factor experiments to identify influential parameters and their ranges.
• Box-Behnken experimental design combined with response surface methodology for multi-objective optimization.
• Analysis of key dimensions of the elastic body.

Main Results:

• The optimized sensor structure demonstrated a 13.1% improvement in material utilization and an 11.9% increase in sensitivity.
• The final sensor achieved a baseline sensitivity of 0.558 mV/N·m, a 19.2% enhancement over the dumbbell-hole structure.
• Material utilization was further improved by 3.1% compared to the optimized dumbbell-hole structure.

Conclusions:

• A novel high-sensitivity hourglass-hole spoke-type elastic body configuration was proposed.
• An efficient response surface optimization framework was established for joint torque sensor design.
• The findings offer new insights for designing and optimizing high-sensitivity torque sensors using linear elastic materials.