Calibration Platform for Modularized Robot Arm Joint Torque Sensor

Torque sensor is an important sensing element of modularized robot arm joint and its accuracy is influenced by calibration test significantly. In this paper, a new torque sensor calibration platform was introduced. It solved the existing problem of ordinary platform requiring extra radial force at calibration, and can be used in any torque sensors with inner and outer rim characteristics. Firstly, the torque sensor receives accurate torque effect through a reasonable structural design. Secondly, possible error of the proposed platform was analyzed. Finally, a calibration test of torque sensor was carried out. Results demonstrated that the proposed calibration platform achieved outstanding absolute measurement accuracy, repeated accuracy and sensitivity.