轻型臂关节力矩传感器的设计

介绍了轻型臂智能关节力矩传感器的弹性体及信号调理电路设计，进行了传感器静态标定试验的研究，为改善传感器的动态响应特性，根据“逆模型”思想，采用最小二乘法、基于函数联接型神经网络法以及辅助变量法设计了力矩传感器的动态补偿器。实验结果表明，辅助变量法具有更好的补偿作用，设计的力矩传感器满足轻型臂系统的要求。

Torque Sensor Design for Light Weight Arm Joint

It outlines a new joint torque sensor's mechanical structure and signal conditioning electronics.The static calibration experiment has been studied.To improve dynamic response,according to the philosophy of inverse model,the dynamic compensation for the sensor is designed based on the least square method,functional link artificial neural network(FLANN)theory and instrumental variable(IV)theory.The experimental results show that the IV theory is more effective and the torque sensor can match the requirement of the light weight arm system.