Abstract: An encoder and a method for determining a rotational position of a first component relative to a second component that can be rotated relative thereto is provided. The encoder includes a first reading head, which is arranged on the second component, and a drive unit with a drive element that is driven in rotation relative to the first component, to which at least a first magnetic disc is fastened and which is designed to be arranged on the first component. The first magnetic disc has, on an end face facing the first reading head, at least one circumferential first track with a plurality of magnetic regions formed one behind the other in the circumferential direction of the first magnetic disc and having alternating magnetisation directions. The first reading head detects at least a first periodic pulse sequence.

Abstract: The invention relates to a method for precisely determining an output-side torque, in particular an output-side torque of an actuator gearing mechanism of a joint of a collaborative robot, by means of an artificial intelligence which is designed to output one or more output variables on the basis of input variables, wherein the input variables of the artificial intelligence comprise: a first angular specification which corresponds to an input-side angular position and a second angular specification which corresponds to an output-side angular position, and additionally the output variables comprise the output torque determined by the artificial intelligence. (FIG.

Abstract: An elastic transmission element is part of a strain wave gear. Such strain wave gears are also referred to as Harmonic Drives. The elastic transmission element is also referred to as a flexspline and has an outer toothing (03). The elastic transmission element is equipped with at least one strain gauge (04) for measuring a mechanical strain on the elastic transmission element. The one strain gauge (04) or the plurality of strain gauges (04) extends at least as a whole about a circumference of a lateral surface or an axial lateral face of the elastic transmission element.

Abstract: A manipulator arm for a robot, including a printed circuit board motor and a transmission, the printed circuit board motor including a multi-layer board having at least one first solenoid coil with flat coils lying vertically on top of each other, the flat coils being connected electrically in series or in parallel, two vertically adjacent coils being orthogonally offset to each other in each case such that, in a cross-section perpendicular to the surface of the multi-layer board, conducting track portions of the one flat coil are arranged in partial overlap vertically with two conducting track portions of the other flat coil. A robot having at least one manipulator arm of this type and the use of a printed circuit board motor in a manipulator arm of a robot are also provided.

Abstract: A device for measuring a torque of a strain wave gearing includes a component (01, 02), on which the torque is applied, an electrically insulating insulation layer (06) arranged on the component (01, 02) and a deformation-sensitive measurement layer (04) arranged on the insulation layer (06). A strain wave gearing for a robot arm has such a device for measuring a torque.

Abstract: A planetary gearing for a robot gearing arrangement includes a sun gear, a ring gear, and a planet carrier with at least three planetary gears rotatably mounted thereon. The planetary gears are arranged on planet pins arranged perpendicular to the planet carrier and are in meshing engagement with the sun gear and the ring gear. At least one first planetary gear is biased in a first circumferential direction and/or at least one second planetary gear is biased in a second circumferential direction. A first planet pin of the first planetary gear is at least partially elastically deformable in the second circumferential direction and/or the second planet pin of the second planetary gear is at least partially elastically deformable in the first circumferential direction.

Abstract: An elastic transmission element is used in a strain wave gear. Such strain wave gears are also referred to as Harmonic Drives. The elastic transmission element is also referred to as a flexspline. Outer toothing is formed on the elastic transmission element. Furthermore, at least one strain gauge for measuring a mechanical strain of the elastic transmission element is arranged on the elastic transmission element. The at least one strain gauge is formed as a coating directly on a metallic surface of the elastic transmission element.

Abstract: A planetary gearing for a robot gearing arrangement includes a sun gear, a ring gear, and a planet carrier with at least three planetary gears rotatably mounted thereon. The planetary gears are arranged on planet pins arranged perpendicular to the planet carrier and are in meshing engagement with the sun gear and the ring gear. At least one first planetary gear is biased in a first circumferential direction and/or at least one second planetary gear is biased in a second circumferential direction. A first planet pin of the first planetary gear is at least partially elastically deformable in the second circumferential direction and/or the second planet pin of the second planetary gear is at least partially elastically deformable in the first circumferential direction.

Abstract: An elastic transmission element is part of a strain wave gear. Such strain wave gears are also referred to as Harmonic Drives. The elastic transmission element is also referred to as a flexspline and has an outer toothing (03). The elastic transmission element is equipped with at least one strain gauge (04) for measuring a mechanical strain on the elastic transmission element. The one strain gauge (04) or the plurality of strain gauges (04) extends at least as a whole about a circumference of a lateral surface or an axial lateral face of the elastic transmission element.