A method of estimating the torque of an axle of a running motor, comprising receiving data indicative of the total electrical active power, P, supplied to the motor, determining the electromechanical power, P.sub.em, supplied to the axle using the data indicative of the total electrical active power, P, receiving data indicative of a rotor speed, n.sub.r, or rotor frequency, f.sub.r, of the axle, determining an angular rotor frequency, .sub.r, of the axle using the data indicative of rotor speed, n.sub.r, or rotor frequency, f.sub.r, of the axle, and determining electromechanical axle torque, T.sub.em, using the determined electromechanical power, P.sub.em, and the determined angular rotor frequency, .sub.r.

A sensor is used in measuring the torque applied to a slew drive. The slew drive includes a worm gear and a worm wheel and the sensor is coupled with a securing device that is used to secure the worm gear to the slew drive housing. The sensor generates a signal which is indicative of the torque on the worm wheel. The worm gear is secured to the slew drive housing by a first bearing and a second bearing. Two end plates and eight bolts are also used to further secure the worm gear and the bearings to the slew drive housing. By tightening the bolts, a compressive force is applied on the worm gear through the bearings. The applied torque on the worm wheel causes an axial force on the worm gear. The axial force is transmitted through the worm gear, the bearings, the end plates, and the bolts. One or more sensors can be embedded in one or more of the end plates or the bolts to measure the strain, in the end plates or the bolts, due to the axial force. A control device receives the signal from the sensor and stores, analyses, and/or communicates the signal.

A sensor is used in measuring the torque applied to a slew drive. The slew drive includes a worm gear and a worm wheel and the sensor is coupled with a securing device that is used to secure the worm gear to the slew drive housing. The sensor generates a signal which is indicative of the torque on the worm wheel. The worm gear is secured to the slew drive housing by a first bearing and a second bearing. Two end plates and eight bolts are also used to further secure the worm gear and the bearings to the slew drive housing. By tightening the bolts, a compressive force is applied on the worm gear through the bearings. The applied torque on the worm wheel causes an axial force on the worm gear. The axial force is transmitted through the worm gear, the bearings, the end plates, and the bolts. One or more sensors can be embedded in one or more of the end plates or the bolts to measure the strain, in the end plates or the bolts, due to the axial force. A control device receives the signal from the sensor and stores, analyses, and/or communicates the signal.

An actuator of a robotic system and a robot are provided. The actuator may include a center shaft, an outer shell connected to the center shaft, an input flange, and an output flange coaxially installed on the center shaft, a torque sensor and a motor assembly. The input flange and the output flange are radially fixed with at least one of the outer shell and the center shaft through a plurality of bearings. The torque sensor is connected between the input flange and the output flange, and configured to measure a torque transmitted by the input flange and the output flange. The motor assembly is coupled to the input flange. Disturbances transmitted from either side of the torque sensor may be isolated from the torque sensor. Therefore, the reliability of the readings of the torque sensor may be improved.

A test piece characteristic estimation method includes estimating a moment of inertia of a test piece. A first transfer function G1 from a torque current command for a dynamometer to output from a shaft torque sensor is measured by vibrationally operating the dynamometer. A second transfer function G2 from the torque current command to the output of a dynamo rotation speed sensor is measured by vibrationally operating the dynamometer. A real part and an imaginary part of a ratio obtained by dividing the second transfer function G2 by the first transfer function G1 at a prescribed measurement frequency .sub.k are calculated. A moment of inertia Jeg and a rotational friction Ceg are estimated by using the real part and the imaginary part of the ratio.

An apparatus is provided for measuring a torque in a force-feedback actuator for a steer-by-wire steering system has a housing element, a control unit, a drive apparatus, and a transmission apparatus to be coupled to a steering device. At least one motion sensor detects a motion of the transmission apparatus relative to the housing element and provide a motion signal resulting from the motion to the control unit. The transmission apparatus is coupled to the housing element by way of at least one reset-reversible adjusting device which has at least one mechanical property. A torque of the transmission apparatus, and thus of a connectable steering device, may be ascertained by the control unit using the at least one mechanical property, which has at least one changing state value during the movement of the transmission apparatus, in combination with the motion signal.

A torque transmitter includes a filter header configured to support a filter component. The torque transmitter also includes a torque-transmitting housing configured to at least partially enclose the filter header. The torque-transmitting housing is configured to receive a torque force from an installation tool, and to transmit the torque force to the filter header.

The invention relates to a device and to a method for controlling a test stand arrangement having a specimen and having a loading machine, which is connected to the specimen by a connecting shaft. An estimated value (T.sub.E,est) for for the internal torque (T.sub.E) of the specimen is determined and, from the estimated value (T.sub.E,est), while taking into account a natural frequency (f.sub.0) and a delay, a damping signal (T.sub.Damp) is determined and fed back into the control loop.

A balancer abnormality detection system includes: a robot; a motor configured to operate the robot; a balancer provided in the robot and configured to generate assist torque which assists power of the motor with force generated by elastic bodies; and a controller configured to detect abnormality of the balancer by measuring a current value of the motor operated to keep a posture of the robot during standby of the robot and comparing the current value with a current command value of the motor necessary for keeping the posture of the robot.

A balancer abnormality detection system includes: a robot; a motor configured to operate the robot; a balancer provided in the robot and configured to generate assist torque which assists power of the motor with force generated by elastic bodies; and a controller configured to detect abnormality of the balancer by measuring a current value of the motor operated to keep a posture of the robot during standby of the robot and comparing the current value with a current command value of the motor necessary for keeping the posture of the robot.