Performance test equipment design of a 1 DOF joint torque sensor

There are many reasons to use 1 DOF joint torque sensor at each joints of the robot manipulator. 1 DOF joint torque sensor is designed to sensitively measure 1 DOF rotational torque induced by a BLDC motor and reduction train. Also it has to be insensitive to 5 DOF forces and moments which are not induced by a BLDC motor and reduction. But actually, the 1 DOF torque sensor has sensing error and it cannot be perfectly insensitive to the forces and moments not-induced by the motor. In this reason, a performance-test-equipment has been designed to measure the performance of the joint torque sensor mentioned above. In this paper, the research results will be introduced.