发明名称 |
Joint torque detection system |
摘要 |
A joint torque detection system having a plurality of post-like members disposed around an axis of a joint which connects two links. The plurality of post-like members deform or twist when a torque is imparted to one of the links. An electric motor is fixed at one of the links and the motor rotation is reduced by a harmonic-drive speed reducer fixed at the other of the links. The plurality of post-like members are annularly disposed around the joint axis such that they embrace the speed reducer. A gap sensor (displacement detector) is fixed to the second link, close to the speed reducer between the output of the speed reducer and the second link in such a manner that the sensor generates a signal indicative of relative displacement of the speed reducer output (connected to the one of the links) and the second link. With this arrangement, the system can be incorporated in a small link mechanism such as a robot finger link mechanism, with excellent detection accuracy and an elongated service life.
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申请公布号 |
US6220104(B1) |
申请公布日期 |
2001.04.24 |
申请号 |
US19980059299 |
申请日期 |
1998.04.14 |
申请人 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA |
发明人 |
YOSHINO RYUTARO;TAKAHASHI HIDEAKI |
分类号 |
B25J13/08;G01L3/14;(IPC1-7):G01F1/56 |
主分类号 |
B25J13/08 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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