| 摘要 |
PURPOSE:To make it possible to obtain sufficient sensitivity, by adhering a stress gauge to the chain connecting element of a working arm mechanism including a chain in the power transmission mechanism thereof to convert the resistance change amount thereof to an electric amount. CONSTITUTION:The chain sproket attached to a motor output shaft 21, the chain sprocket 22 attached to a robor arm 23 and a chain 24 for transmitting power to the sprocket 22 from the sprocket 21 are provided. When the initial tension of the chain 24 is Fo/2 and the changes of tension are DELTAF1, DELTAF2, the torque T around the joint shaft 25 of the robot arm 23 is shown by the formula T= (DELTAF1-DELTAF2)XD/2 wherein D is the pitch circle diameter of the sprocket 22. As mentioned above, the joint torque can be obtained by detecting the tension of the chain. In this case, the chain tension is detected by adhering stress gauges 26, 27 being crossed gauges to the link elements 24a, 24b of the chain 24. |
