US 11,874,191 B2
Strain wave gear and transmission element for same, robotic arm and method for measuring a torque
Jens Heim, Bergrheinfeld (DE); Jochen Damerau, Tokyo (JP); and Masato Izumi, Tokyo (JP)
Assigned to Schaeffler Technologies AG & Co. KG, Herzogenaurach (DE)
Appl. No. 17/283,766
Filed by Schaeffler Technologies AG & Co. KG, Herzogenaurach (DE)
PCT Filed Sep. 24, 2019, PCT No. PCT/DE2019/100837
§ 371(c)(1), (2) Date Apr. 8, 2021,
PCT Pub. No. WO2020/074040, PCT Pub. Date Apr. 16, 2020.
Claims priority of application No. 10 2018 125 079.7 (DE), filed on Oct. 10, 2018.
Prior Publication US 2021/0354291 A1, Nov. 18, 2021
Int. Cl. F16H 49/00 (2006.01); G01L 3/14 (2006.01)
CPC G01L 3/1457 (2013.01) [F16H 49/001 (2013.01); F16H 2049/003 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An elastic transmission element of a strain wave gear, comprising:
a hollow-cylindrical part, and
an annular part extending radially and adjoining the hollow-cylindrical part in an axial direction,
wherein an outer toothing is formed on the hollow-cylindrical part,
wherein a plurality of strain gauges for measuring a mechanical strain of the elastic transmission element are arranged on the elastic transmission element, the plurality of strain gauges including a first subset extending, at least as a whole, about a circumference on a surface of the annular part and a second subset extending, at least as a whole, about the circumference on the surface of the annular part,
wherein the first subset extends circumferentially around the second subset.