Investigation of Optimum Geometry for Robotics Torque Sensor

Purpose: This study aims to optimise the geometry of joint torque sensors to enhance sensitivity and precision while minimising stress. Design/Methodology/Approach: The research involves designing and evaluating three-ring geometries (Ring A, Ring B, and Ring C) under varying rib angles (30°, 45°, 60°, and 90°) using Finite Element Analysis (FEA) in ANSYS. Experimental validation was performed on the geometry with the highest stress (Ring C, 60° rib angle), utilising strain gauges for stress measurement. Findings: FEA revealed that Ring A and B geometries exhibited lower stress levels, with Ring A being the most favourable. While showing higher stress, Ring C demonstrated suitability for applications requiring precise strain measurements. Research Limitation: The study focuses on aluminum alloys 6061 and 7075-T6. Practical Implication: Optimised torque sensors can enhance robotic applications requiring precise force measurement and control, improving operational safety and precision. Social Implication: Enhanced torque sensor design supports safer and more efficient robotics and benefits society by enabling technological advancements. Originality/Value: This work comprehensively evaluates torque sensor geometries, combining FEA and experimental validation to identify designs that balance stress minimisation and measurement precision, contributing to advancements in robotic sensor technology.