Method for detecting a faulty measurement channel in a strain wave gearing mechanism

A method for detecting a faulty measurement channel on an elastic transmission element in a strain wave gearing mechanism, the method comprising:

• acting on the elastic transmission element with a wave generator, wherein the elastic transmission element comprises a first strain gauge assembly with a first measurement channel and a second strain gauge with multiple second measurement channels, wherein the first measurement signal of the first measurement channel of the first strain gauge assembly is proportional to torque, wherein second measurement signals of the individual second measurement channels of the second strain gauge assembly are based on the rotational position of the wave generator;
• and
• performing a plausibility check, for each measurement channel of the second measurement channels, using the first measurement signal and one or more of the second measurement signals,
• wherein a difference between a first term dependent on the first measurement signal and a second term dependent on multiple second measurement signals is formed for the plausibility check
• wherein a plausibility check of the first measurement channel is carried out in a validation step preceding the plausibility check of the second measurement channels.

A drive module comprising:

• a strain wave gearing mechanism comprising:
• an elastic transmission element;
• and
• a wave generator acting on the elastic transmission element,
• wherein the elastic transmission element has a first strain gauge assembly with a first measurement channel, wherein a first measurement signal of the first measurement channel of the first strain gauge assembly is proportional to the torque, wherein the elastic transmission element has a second strain gauge assembly with multiple second measurement channels, wherein second measurement signals of the individual second measurement channels of the second strain gauge assembly are based on the rotational position of the wave generator;
• and
• an evaluation unit configured to:
• detect a faulty second measurement channel by performing a plausibility check for each measurement channel of the second measurement channels using the first measurement signal and one or more of the second measurement signals;
• correct the faulty second measurement channel on the basis of the first measurement signal and one or more second measurement signals;
• and
• determine the torque acting on the transmission ring on the basis of the corrected second measurement channel and the remaining second measurement channels.