Topology structure design and optimization of a new-type strain torque sensor for robotic joints

CAO Feng; CHEN Saixuan; CUI Guohua; ZHANG Yu; ZHAO Wanbo

doi:10.12299/jsues.23-0250

Volume 39 Issue 1

May 2025

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Article Navigation > Journal of Shanghai University of Engineering Science > 2025 > 39(1): 15-20, 72

CAO Feng, CHEN Saixuan, CUI Guohua, ZHANG Yu, ZHAO Wanbo. Topology structure design and optimization of a new-type strain torque sensor for robotic joints[J]. Journal of Shanghai University of Engineering Science, 2025, 39(1): 15-20, 72. doi: 10.12299/jsues.23-0250

Citation:

CAO Feng, CHEN Saixuan, CUI Guohua, ZHANG Yu, ZHAO Wanbo. Topology structure design and optimization of a new-type strain torque sensor for robotic joints[J]. Journal of Shanghai University of Engineering Science, 2025, 39(1): 15-20, 72. doi: 10.12299/jsues.23-0250

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Topology structure design and optimization of a new-type strain torque sensor for robotic joints

doi: 10.12299/jsues.23-0250

CAO Feng^{a, b
,},
CHEN Saixuan^{a, b
,
,},
CUI Guohua^{a, b},
ZHANG Yu^{a, b},
ZHAO Wanbo^{a, b}

a.
School of Mechanical and Automotive Engineering
b.
Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2023-12-06
Publish Date: 2025-05-19

Abstract

Abstract

The flexible control of collaborative robots relies on the torque sensing capability of the joints. Based on the measurement principle of strain sensors, a strain-based torque sensor with an S-shaped double-hole structure was proposed. Firstly, according to the basic principles of sensor measurement, a configuration design method based on strain gauges was proposed. Secondly, the reliability of the structure was verified through mechanical simulation tests of the overall sensor structure. Finally, the central-composite design (CCD) response surface method was ued to optimize the local dimensional parameters of the sensor, which increases the surface strain of the sensor by 93 MPa, thereby enhancing the sensitivity of the sensor.
- torque sensor,
- resistive strain gauge sensor,
- flexure structure design

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References(14)

References

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