Torque testing is crucial to improve the quality of high-precision reducers—the core component of industrial robots. Herein, a torque-measurement system for a novel vertical measuring instrument is designed. The distance from the torque transducers to the robot reducer is minimized to ensure the shortest measurement chain. The symmetrical system structure improves the overall rigidity, and error compensation can be performed easily. The characteristics of the torque measurement errors due to shaft bending and torsional deformations were also analyzed. A torque calibrator comprising two high-precision torque output systems was used to calibrate torque transducers in the measurement system. Reasonable and practical compensation models based on a backpropagation neural network were developed to accurately obtain the input and output torques of the reducer. As the torque-measurement precision of the reducer detector reached 0.1% over the entire torque range, the instrument can be used for accuracy measurement of the input and output torques of the robot reducer.

中文翻译：

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工业机器人高精度减速机扭矩测量

扭矩测试对于提高工业机器人核心部件高精度减速机的质量至关重要。在此，设计了一种新型立式测量仪的扭矩测量系统。从扭矩传感器到机器人减速器的距离被最小化，以确保最短的测量链。对称的系统结构提高了整体刚性，并且易于进行误差补偿。还分析了由于轴弯曲和扭转变形引起的扭矩测量误差的特征。由两个高精度扭矩输出系统组成的扭矩校准器用于校准测量系统中的扭矩传感器。开发了基于反向传播神经网络的合理实用的补偿模型，以准确获取减速器的输入和输出扭矩。由于减速机检测仪在整个扭矩范围内的扭矩测量精度达到0.1%，可用于机器人减速机输入输出扭矩的准确测量。