Strain Analysis of Torque Sensor for Shear Beam Structure

In order to achieve flexible control of robots in complex situations, it is necessary to add torque sensors at the robot joints. Torque sensors are important detection components for obtaining the operating status of robot joints. Considering the size limitation of the robot itself and the working scene and other factors, the torque sensor adopts the spoke structure. The structure and the working principle of the torque sensor are introduced in the paper, and the deformation coordination conditions of the elastic beam under torque load are analyzed. Based on the deformation coordination conditions and the theory of Timoshenko beam, the strain calculation formula of the shear beam is deduced, and a simplified mechanical analytical model is established. The accuracy of the mechanical model and the sensitivity to the structural parameters of the elastomer are verified by finite element analysis, and the results show that the relative error between the results obtained by the simplified mechanical model and the finite element results is within 8.9%, which indicates the accuracy of the simplified mechanical analytical model.