Design and Characterization of a 1-axis Compact Torque Sensor for a Collaborative Robot Arm

In this paper is proposed a dynamic torque, rotational speed, and shaft position sensor. It is built of magnetic elastomer coating directly applied over a rotating shaft. The sensor is used for precise measurements of changes in torque and speed, and it is usable at high rotational speeds, directly on the device shaft. The sensor is based on magnetic elastomer material deformation and the corresponding change in magnetic field amplitude and direction. The proposed sensor design is simple and can acquire reliable readings for a wide range of rotational speeds. Sensor design consists of the following: magnetic elastomer coating with nanoparticles, in which, elastomer is used for a sensing convertor; magneto-resistive linear field sensor; and microprocessor unit for calibration and control. Numerical and experimental test results are demonstrated and analyzed. Sensor implementation aims to meet magnetic mechatronic systems’ specific requirements.

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Design and Characterization of a 1-axis Compact Torque Sensor for a Collaborative Robot Arm

Cited by 3 publications

References 15 publications

Design and Calibration of a Joint Torque Sensor for Robot Compliance Control

Design and Calibration of a Joint Torque Sensor for Robot Compliance Control

Design of Highly Sensitive Joint Torque Sensor for Collision Detection in Robotic Manipulators

Magnetic Elastomer Sensor for Dynamic Torque and Speed Measurements

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