与机器人的根源可以追溯到1962年甚至更快的机器人不同，协作机器人或柯比特人的根源追溯到1996年 - 超过34年后。尽管机器人是一台无人控制的自动驾驶机器，但Cobot使用人工智能（AI）与人工工人合作执行任务。机器人中使用的主要传感器技术包括扭矩，力，光学，位置和温度。由于配套必须与人类安全合作，因此安全操作的传感器是关键因素。例如，要遵守ISO13849的功能安全要求3 pl d，te Connectivity的（TE）safety torque sensor’s设计基于双通道系统，并包含其他功能，以检测与安全性相关的故障。
Designed to monitor the mechanical torque in a variety of the rotational pivot points on a cobot, the torque sensor is based on an integrated MEMs load cell that can translate mechanical torque to a digital output signal proportional to the torque applied. In the cobot, the sensor detects conditions where the torque level is high enough to potentially harm a human in a collaborative application or where the torque level could damage the cobot itself.
The torque sensor starts with a one-piece flexure designed to translate rotational torque into mechanical strain. Piezoresistive strain gauges attached to the flexure areas and assembled in a Wheatstone bridge configuration translate the mechanical strain to a mV/V output. Two small printed circuit boards (PCBs) on the sensor house an ASIC and other electrical components. The circuitry compensates, amplifies, digitizes and communicates the raw mV/V signal in an I2C format. Also, a torque threshold can be established to shut down the cobot before any humans are injured or before any damage occurs to the cobot itself.
在协作机器人中证明安全性关键碰撞感测，TE低调安全扭矩传感器的整体高度小于20毫米。配备扭矩传感器在顺时针方向上都可以运行，并且全尺寸范围为20 - 500 nm（15 - 400 lbF）静态旋转速度。
提交以下：传感器提示
