HARMONIC DRIVE TORQUE SENSING DEVICE

摘要

Disclosed is an apparatus to measure torque capable of measuring an external torque of a harmonic drive. According to the present invention, the apparatus to measure torque of a harmonic drive comprises: a signal detecting part including a strain gauge mounted on a flex spline of a harmonic drive to measure an amount of deformation (torque ripple) in accordance to a time, and an angular velocity measuring module to measure the angular velocity of a wave generator; and a signal processing part including an order analyzing module to fixate a frequency to a predetermined area by changing a sampling period in accordance to the angular velocity using a measured torque ripple, and an order filter to detect an external torque applied to the harmonic drive by comparing torque ripple sampling from an order analyzing module with a predetermined reference torque ripple. As such, a precision torque measurement is possible, and a structure simplified.