中文摘要：

介绍了基于时间-数字转换器（TDC）的应变测量原理与特点。设计并制作了基于TDC技术的机器人关节力矩传感器。基于TDC应变测量原理的力矩传感器具有组成电路简单、系统电流消耗小的特点。对传感器进行了静动态校正，并分析了试验结果。

英文摘要：

The theories and characteristics of strain measurement based on time-to-digital converter（TDC） are presented. Based on the TDC technology,a torque sensor for a robot joint is designed and fabricated. The makeup of the torque sensor is simplified by the TDC strain measurement. And the total consumption of the current is extremely low. The static and dynamic calibration of the torque sensor is presented, and the results are discussed.