A Joint Torque Sensor Based on Strain Gauge for Collaborative Robot

Collaborative robots require the information of external forces applied to the robot body for collision safety and precise operation. Joint torque sensors mounted between the speed reducer and the link can serve this purpose. The torsional sensitivity of the torque sensor is an important consideration in its design because the low sensitivity of the sensors adversely affects the overall sensitivity of the robot. In this study, torque sensors of various shapes with identical torque sensitivity were designed and the sensor sensitivity was investigated through simulations. Based on the simulations, it is designed to be able to diagnose the sensor state in the signal amplifier through the Whitston bridge output.