Force torque sensor, force torque sensor frame, and force torque measurement method

摘要

The present invention relates to a force torque sensor, a force torque sensor frame, and a force torque measurement method. The force torque sensor includes a central hub, a plurality of beams each having one side connected to the hub, and a rim connected to the other side of each beam to surround the hub and the plurality of beams. The force torque measurement method includes: a step of forming a gradient shape in a longitudinal direction thereof so that a section is provided in which a strain rate on each of the beams due to a force or torque is maintained within a predetermined value; and a step of measuring a strain rate in X-axis, Y-axis, or Z-axis directions after a strain gauge is attached to a corresponding section. Thus, a measurement center of the strain gauge may be positioned within a predetermined section.

主权项

1. A force torque sensor comprising:
a central hub; a plurality of beams, each beam of the plurality of beams having a first end connected to the hub and a gradient shape in a longitudinal direction thereof; a strain gauge attached to one beam of the plurality of beams, the strain gauge being configured to measure a strain rate of the beam to which the strain gauge is attached; and a rim connected to a second end of each beam of the plurality of beams such that the rim surrounds the hub and the plurality of beams, wherein each beam of the plurality of beams has at least one curved sidewall extending between the hub and the rim, and the gradient shape comprises a convex portion of the at least one curved sidewall.