Design and Calibration of Torque Measurement System of Comprehensive Performance Test Instrument of Industrial Robot Reducer

Author:

Yu Zhen1ORCID,Qiu Zurong1ORCID,Li Hao1ORCID,Xue Jie1ORCID,Hu Wenchuan2ORCID,Wang Chenglin3ORCID

Affiliation:

1. State Key Laboratory of Precision Measurement Technology and Instrument, Tianjin University, Tianjin 300072, China

2. Tianjin University of Technology and Education, Tianjin 300350, China

3. College of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China

Abstract

The measurement of input and output torque of a precision reducer, the core component of an industrial robot, plays a vital role in evaluating the robot's performance. The TMSIS and TMSOS of a vertical cylindrical high-precision reducer detector were designed and investigated in this study to realize the accurate measurement of input and output torque of the reducer. Because a transmission chain connects the torque transducer and the reducer, the characteristics of the inevitable additional torque are analyzed in detail. A torque calibration device is developed to realize the calibration of the torque measurement system. The readings of the torque calibration device are compared with the data of the instrument’s torque measurement system to realize the instrument's torque calibration. The improved particle swarm optimization and Levenberg–Marquardt algorithm-based radial basis function neural network is used to compensate for the error of the torque measurement system. The parameters of the RBF neural network are settled according to the characteristics of the additional torque and the torque calibration results. The experimental results show that the torque measurement accuracy of the torque measurement system can reach 0.1% FS after torque calibration and error compensation.

Funder

National Basic Research Program of China

Publisher

Hindawi Limited

Subject

General Mathematics,General Medicine,General Neuroscience,General Computer Science

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