| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a six-axis force measuring device and a system therefor, which facilitates manufacturing and downsizing, has flexibility on a contact surface with an article, and can measure six-axis force without depending on complicated stress distortion characteristics of soft material; and a dynamic quantity measuring device and a system therefor, which can be applied for another optical tactile sensor and simultaneously measure six-axis force without the loss of functions of the optical tactile sensor itself. <P>SOLUTION: A six-axis force measuring device 1 includes: a CCD camera 4 and an illumination 5 as shape extracting means; and a pressure sensor 10 or a compressed fluid 19 and a box 20 as pressure extracting means, in addition to a touch pad 3. A CPU 15 extracts a shape of a film 6 and a direction of tension acting on an end of the film 6, from images shot by the CCD camera 4, and extracts a non-contact area in which an article W1 is not contacted with the film 6, from the shape of the film 6. Furthermore, the CPU 15 inputs an analog signal from the pressure sensor 10, and extracts the pressure of liquid 11. Finally, the CPU 15 extracts six-axis force acting on a plate 7 (force and moment in and around an optional axial direction) from the information. <P>COPYRIGHT: (C)2013,JPO&INPIT |
