Kim Sung Yong, Park Se Hoon, Choi Baek Gyu, Kang In Hyuk, Park Sang Wook, Shin Jeong Woo, Kim Jin Ho, Baek Woon Kyung, Lim Kwon Taek, Kim Young-Ju, Song Jae-Bok, Kang Inpil
Department of Mechanical Design and Engineering, Pukyong National University, Busan, KS012, Korea.
Aircraft Structures Research Team, Korea Aerospace Research Institute, Daejeon, KS015, Korea.
J Nanosci Nanotechnol. 2018 Mar 1;18(3):1782-1786. doi: 10.1166/jnn.2018.14989.
This study reports a hub-spoke type joint torque sensor involving strain gauges made of multiwalled carbon nanotubes (MWCNT). We developed the novel joint torque sensor for robots by means of MWCNT/epoxy strain sensors (0.8 wt%, gauge factor 2) to overcome the limits of conventional foil strain gauges. Solution mixing process was hired to fabricate a liquid strain sensor that can easily be installed on any complicated surfaces. We painted the MWCNT/epoxy mixing liquid on the hub-spoke type joint torque sensor to form the piezoresistive strain gauges. The painted sensor converted its strain into torque by mean of the installed hub-spoke structure after signal processing. We acquired sufficient torque voltage responses from the painted MWCNT/epoxy strain sensor.
本研究报告了一种涉及由多壁碳纳米管（MWCNT）制成的应变片的轮毂-辐条式关节扭矩传感器。我们通过MWCNT/环氧树脂应变传感器（0.8重量%，应变片系数2）开发了用于机器人的新型关节扭矩传感器，以克服传统箔式应变片的局限性。采用溶液混合工艺制造了一种可轻松安装在任何复杂表面上的液体应变传感器。我们将MWCNT/环氧树脂混合液涂覆在轮毂-辐条式关节扭矩传感器上，以形成压阻式应变片。涂覆后的传感器在信号处理后通过所安装的轮毂-辐条结构将其应变转换为扭矩。我们从涂覆的MWCNT/环氧树脂应变传感器获得了足够的扭矩电压响应。
