| 摘要 |
Forces and moments are detected in a distinguishing manner by a simple structure. A supporting member ( 20 ) is positioned below a force receiving member ( 10 ), which receives forces to be detected, and between these components, four columnar force transmitting members ( 11 to 14 ) are connected. Connecting members, having flexibility, are interposed at the upper and lower ends of each of the columnar force transmitting members ( 11 to 14 ) so that the columnar force transmitting members ( 11 to 14 ) can become inclined when the force receiving member ( 10 ) becomes displaced upon receiving a force. Sensors ( 21 to 24 ), each equipped with capacitance elements, are positioned at the connections parts of the respective columnar force transmitting members ( 11 to 14 ) and the supporting member ( 20 ) to detect forces that are transmitted from the respective columnar force transmitting members ( 11 to 14 ) to the supporting member ( 20 ). Based on the detection values of the sensors ( 21 to 24 ), a detection circuit ( 30 ) detects, in a distinguishing manner, forces and moments acting on the force receiving member ( 10 ). All of forces Fx, Fy, and Fz and moments Mx, My, and Mz can be detected.
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