| 摘要 |
<p>PROBLEM TO BE SOLVED: To detect a three-axis force and a three-axis moment, while achieving the miniaturization and the cost down.SOLUTION: The inside structural body 200 composed of a triangle pole is arranged at a position of an original point Q of anαβγcoordinate system, and a cylindrical outside structural body 100 which is outside the inside structure body 200, and further, a cylindrical outer shell structural body 300 which is outside the outside structural body 100 are arranged. The inside structural body 200 and the outer shell structural body 300 are connected, and basic sensors S1, S2, S3 are connected between the inside structural body 200 and the outside structure body 100. The outside structural body 100 is fixed on a pedestal, and when an outside force is acted on the outer shell structure body 300, the inside structural body 200 is made to operate by a relative displacement, and a distortion is generated in each basic sensor. Each basic sensor is defined with a separate XYZ coordinate system, respectively, and moments Mx, My around an X axis, a Y axis are detected based on the generated distortions. Forces Fα, Fβ, Fγin each coordinate axis direction of theαβγcoordinate system and moments Mα, Mβ, Mγaround each coordinate axis can be obtained by the calculation based on the detection values Mx, My of each basic sensor.</p> |
