Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape

@inproceedings{Zhang2016DevelopmentOT,
  title={Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape},
  author={Hongxia Zhang and Young-Jae Ryoo and Kyung-Seok Byun},
  booktitle={Sensors},
  year={2016}
}
The torque sensor is used to measure the joint torque of a robot manipulator. Previous research showed that the sensitivity and the stiffness of torque sensors have trade-off characteristics. Stiffness has to be sacrificed to increase the sensitivity of the sensor. In this research, a new torque sensor with high sensitivity (TSHS) is proposed in order to resolve this problem. The key idea of the TSHS comes from its 4-bar linkage shape in which the angular displacement of a short link is larger… CONTINUE READING
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