用于机器人关节的采用永磁化的盘形磁弹性扭矩传感器

中文摘要 AI 辅助

直接扭矩传感是机器人领域中日益增长的需求，以便在通过电机电流进行扭矩估计不够充分的情况下实现精确控制和交互。本文提出了一种新型盘形磁弹性扭矩传感器，其轴向紧凑包络约为1厘米，适合集成到机器人关节中。采用四磁力计架构来测量由影响窄磁化区域的应力所调制的磁场，同时抑制寄生横向力的影响。定制设计的磁屏蔽将扭矩灵敏度提高，同时将外部杂散场减少7倍。该设备相对于50牛米满量程（FS）的扭矩测量精度为1.34%FS。本文详细介绍了传感器的开发过程，包括机械设计、磁化程序和实验验证。结果表明，所提出的传感器在机器人应用中具有潜力。

英文摘要

Direct torque sensing is a growing need in the robotics community to enable precise control and interactions where torque estimation from motor current is not sufficient. This paper presents a novel disk-shaped magnetoelastic torque sensor with a compact axial envelope of about 1 cm, suitable for integration in robotic joints. A four-magnetometer architecture is used to measure the field modulated by the stress affecting a narrow magnetized region while rejecting the effects of parasitic cross forces. A custom-designed magnetic shield enhances the torque sensitivity while reducing the external stray fields by a factor 7x. The device measures the torque with an accuracy of 1.34 %FS relative to the 50 Nm full scale (FS). The paper details the development of the sensor through the mechanical design, the magnetization procedure, and the experimental validation. The results demonstrate the potential of the proposed sensor for robotic applications.

发表机构

• Melexis Technologies SA（迈来芯科技股份公司）
• CSEM SA（瑞士电子与微技术中心股份公司）

机构由 AI 辅助整理，请以论文原文为准。