中文摘要：

利用逆磁致伸缩材料的应力敏感性，结合超声电机的工作原理和结构特点，创新性地将逆磁致伸材料粘贴在CD形状的超声电机转子（转盘）上，实现了超声电机的非接触扭矩测量。其中，超声电机工作期间不产生磁场的特点直接保证了采用磁场测量方式检测扭矩的可靠性；转子（转盘）对旋转轴应力的放大作用，提高了系统的测量精度和测量范围，并节省了空间，为扭矩测量装置植入超声电机体内创造了可能。实验结果表明：该方案可以非接触地检测超声电机扭矩及其变化，且动态性好，抗干扰能力强。

英文摘要：

Affixing inverse magneto-elastic material on the CD-shaped rotor（ turn plate）of ultrasonic motor is an original approach that realizes the non-contact torque measurement of rotating shaft. Due to the characteristics that ultrasonic motor produces no magnetic field, it ensures the reliability of torque measurement. CD-shaped rotor magnifies the torque in shaft, which improves torque measuring precision and range, and saves much space with the benefit of alleviating the difficulties of implanting torque measuring device inside the ultrasonic motor in the future. Experiment shows that the presented toque measuring method archieves torque measurement and variation detection with strong stability and anti-interference capability.