Joint Module with Joint Torque Sensor Having Disk-type Coupling for Torque Error Reduction

토크 오차 감소를 위한 디스크형 커플링을 갖는 토크센서가 내장된 로봇 관절모듈

Min, Jae-Kyung;Kim, Hwi-Su;Song, Jae-Bok

  • Received : 2015.01.10
  • Accepted : 2015.11.17
  • Published : 2016.02.01


Force control and collision detection for a robot are usually conducted using a 6-axis force/torque sensor mounted at the end-effector. However, this scheme suffers from high-cost and the inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, which also suffered from various errors in torque measurement. To resolve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque under consideration. This joint design also aims to reduce the stress induced during the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.


Joint Torque Sensor;Robot Joint Module;Disk-Type Coupling;Torque Measurement;Moment Load


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Supported by : 한국산업기술평가관리원