基于冗余测量的空间机械臂关节扭矩传感器研究

由于航天环境下的振动容易使传感器发生过载破坏，航天扭矩传感器需要具有抗过载和容错能力。本文利用空间机械臂关节零件设计了一款一体化的扭矩传感器，从传感器扭转刚度和应变的解析模型出发，根据传感器的特殊使用需求对传感器进优化设计和有限元仿真，同时对传感器电路采用冗余设计。经实验标定，该传感器冗余线性度误差为0.77%，灵敏度高，具有一定的轴向抗干扰能力，满足航天扭矩传感器量程大，体积小，精度高，抗过载能力强和具有一定容错能力的特殊需求。

Research on Joint Torque Sensor of Space Manipulator Based on Redundant Measurement

As the vibration in the space environment can easily lead to overload damage,an spaceflight torque sensor should be fault-tolerant and have the ability of anti-overload.In this paper,an integrated torque sensor in designed using the joint parts of the space manipulator,and the optimal design and finite element simulation of the sensor are performed according to the special requirement based on the analytical model of the torsion stiffness and strain of the sensor. At the same time,the redundant design of the sensor circuit is adopted. The redundancy linearity error of the sensor is 0.77% with high sensitivity and certain axial anti-interference ability. It meets the special requirement of the spaceflight torque sensor with large range, small volume, high precision, strong anti overload ability and certain fault tolerance.