0
RESEARCH PAPERS

Torque Sensor For Direct-Drive Manipulators

[+] Author and Article Information
C. W. deSilva

Mechanical Engineering Department and Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA 15213

T. E. Price

Carnegie-Mellon University, Pittsburgh, PA 15213

T. Kanade

Computer Science Department and Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA 15213

J. Eng. Ind 109(2), 122-127 (May 01, 1987) (6 pages) doi:10.1115/1.3187101 History: Received September 11, 1986; Online July 30, 2009

Abstract

This paper describes the development of a joint torque sensor for the second direct-drive manipulator at Carnegie-Mellon University (CMU DD Arm II). The approach taken is to develop the sensor using static design considerations and then test it to verify its dynamic performance. Several design considerations applicable to semiconductor strain-gage torque sensors are presented. These are strain capacity limit, nonlinearity, sensitivity, and stiffness specifications. Associated design equations have been developed in the present work. A numerical example is given to illustrate the use of these design considerations. The development of a circular-shaft torque sensor for the CMU DD Arm II, that employs semiconductor strain gages, is described. Typical results from a static calibration test and from step and impulse tests are presented. Test show that the torque sensor performs well under dynamic conditions in a bandwidth of 100 Hz.

Copyright © 1987 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In