Methods for measuring strain wave gears and transmission elements, robot arms, and torques for strain wave gears.

摘要

The present invention first relates to elastic transmission elements of strain wave gears. Such strain wave gear is also called a harmonic drive. The elastic transmission element, also called a flexspline, has an outer dentition (03). The elastic transfer element is provided with at least one strain gauge (04) for measuring mechanical strain on the elastic transfer element. According to the present invention, one strain gauge (04) or a plurality of strain gauges (04) extend over at least the entire lateral surface or axial side edge of the elastic transfer element. The invention also relates to strain wave gears and robotic arms, as well as methods for measuring torque in elastic transmission elements according to the invention.