Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators
Joint Authors
Sun, Hanxu
Shi, Hanlin
Jia, Qingxuan
Wei, Nanzhe
Ji, Xue
Source
Advances in Mechanical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-04-04
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper describes the development of a compact and lightweight joint torque sensor for space manipulators.
Space manipulators with torque sensors can not only apply force control approach to more precise and more dexterous space missions, but also monitor the occurrence of unpredicted events as accidental impacts with objects they have to manipulate.
At present, most of the compact torque sensors, designed without consideration of space environment, cannot be directly used in space applications.
In this paper, we propose a compact and lightweight design for the joint torque sensor based on strain gauge, for the reason of good physical, chemical, and mechanical stabilities under high temperature environment.
In addition, to reduce the interferences by axial forces generated by assembling condition and joint motors, the structural optimization for the sensing element is carried out.
The proposed design is simulated by FEM software ANSYS, and it shows successful measurements of the torque with a load capacity of 10 Nm, which is sufficient for the torque generated in robot joints.
The effect of axial loading is also analyzed by ANSYS.
The designed sensor is manufactured by duralumin alloy.
The calibration for the sensor is carried out, and several experiments are conducted to ensure its feasibility with the space manipulator.
American Psychological Association (APA)
Wei, Nanzhe& Sun, Hanxu& Jia, Qingxuan& Ji, Xue& Shi, Hanlin. 2013. Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators. Advances in Mechanical Engineering،Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-456624
Modern Language Association (MLA)
Wei, Nanzhe…[et al.]. Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators. Advances in Mechanical Engineering No. 2013 (2013), pp.1-12.
https://search.emarefa.net/detail/BIM-456624
American Medical Association (AMA)
Wei, Nanzhe& Sun, Hanxu& Jia, Qingxuan& Ji, Xue& Shi, Hanlin. Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators. Advances in Mechanical Engineering. 2013. Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-456624
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-456624