Harmonic Drive Systems Inc.

Minoru Hashimoto

Masashi Horiuchi

Ivan Godler

A wave gear device torque detection method in which the gain of the output of each of a plurality of strain gauge sets affixed to the diaphragm of a flexible external gear is amplified and the outputs are then combined to form a detection signal. Adjusting the gain of each of the strain gauge outputs makes it possible to compensate for rotational ripple included in the output. Compensation of up to n order ripple components is possible by using at least (2n+1) strain gauges.

Wave gear device torque detection method

A cup-shaped flexible external gear,of a flexed meshing type gear drive,is flexed into an elliptical shape by a wave generator,A first torque detection device,is disposed on a portion of the external gear,for example, on a diaphragm,thereof which has a pair of torque detection elements arranged at an angular interval of 90&deg; around a center axis,Likewise, a second torque detection device,is also disposed, which has a pair of torque detection elements arranged at an angular interval of 90&deg;. The first and second torque detection devices,are arranged at an angular interval of (k&times;45&deg;) around the center axis,with each other. A torque detection mechanism of this invention synthesizes outputs of the two torque detection devices,thereby realizing a high accurate torque detection with quite few effect of rotational ripple and with high linearity.

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Nagano-ken, Japan

Minoru Hashimoto