JRM Vol.3 No.4 pp. 306-313
doi: 10.20965/jrm.1991.p0306


Harmonic Drive with a Built-in Torque Sensor and Its Application to Torque Control

Minoru Hashimoto, Hideki Hirabayashi*, and Toshihide Kiyosawa*

Faculty of Engineering, Kagoshima University

* Harmonic Drive System Inc.

June 30, 1991
July 20, 1991
August 20, 1991
In this paper, first a method of torque measurement using elasticity contained in harmonic drive system is outlined. This method of torque measurement does not require changing the structure of the driving system nor inserting a new elastic body for torque measurement. Here, a configuration method of strain gauge for measuring the true torque based on the finite-element method analysis of the flexspline, an elastic clement in the harmonic drive, is proposed. Then, the properties of this torque sensor are experimentally verified. Finally, as a case of application, non-linear friction attributable to the harmonic drive is compensated by torque control using the torque sensor mentioned here, showing an improvement in performance of motion control.
Cite this article as:
M. Hashimoto, H. Hirabayashi, and T. Kiyosawa, “Harmonic Drive with a Built-in Torque Sensor and Its Application to Torque Control,” J. Robot. Mechatron., Vol.3 No.4, pp. 306-313, 1991.
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