No abstract

Crosstalk resistance is an important criterion for evaluating the measurement error of the Joint Torque Sensor (JTS) in actual collaborative robot application, but few research literature studies on the crosstalk resistance of shear beam-type JTS have been found. This paper proposes a mechanical structure of one shear beam sensor and determines its strain gauge working area. Multi-objective optimization equations are established with three major performance indicators of sensitivity, stiffness, and crosstalk resistance. Optimal processing and manufacturing structure parameters are obtained by employing both the response surface method based on the central composite design experimental principle and the multi-objective genetic algorithm. By simulating and experimenting, the optimized sensor is verified and has the following indices: overload resistance 300% F.S., torsional stiffness 503.44 KN m/rad, bending stiffness 142.56 KN m/rad, range 0–±200 N m, sensitivity 25.71 mV/N m, linearity 0.1999%, repeatability error 0.062%, hysteresis error 0.493%, measurement error less than 0.5% F.S. under Fx (392.4 N) or Fz (600 N) crosstalk load, and measurement error less than 1% F.S. under My (25 N m) moment crosstalk. The proposed sensor possesses good crosstalk resistance and especially axial crosstalk resistance and has good overall performance to meet well the engineering requirements.

Planar coil is usually used as a basic element in various research fields. This paper models a sensor equivalent circuit by taking the planar spiral excitation coil as an optimization object according to the electromagnetic coupling principle. The influence of coil electrical parameters on the coupling efficiency is analysed. The present result shows that the excitation coil should be small size, large inductance and high-quality factor. A two-dimensional planar spiral coil is modelled using ANSYS Maxwell software. The coil structure parameters with significant influence on the coil quality factor are chosen by the single factor experiment. The two-factor, five-level central composite deign principle is selected to establish a multivariate quadratic model by Response Surface Methodology (RSM). Then the paper implemented Grey Wolf Optimizer (GWO) to optimize response surface model, and obtained the optimal coil structure parameters. The conclusion was drawn that the inductance and quality factor of the optimized coil increase from 27.031 μH and 161.293 to 43.171 μH and 175.537, respectively. Compared to the control coil, the inductance is 1.597 times as the original coil and the quality factor is increased by 8.8%.