| 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, at least two columnar force transmitting members ( 11, 12 ) are connected. Connecting members having flexibility are interposed at the upper and lower ends of each of columnar force transmitting members ( 11, 12 ) so that columnar force transmitting members ( 11, 12 ) can become inclined when force receiving member ( 10 ) becomes displaced upon receiving a force. Sensors ( 21, 22 ) are positioned at the respective connection parts of columnar force transmitting members ( 11, 12 ) and supporting member ( 20 ) to detect forces that are transmitted from the respective columnar force transmitting members ( 11, 12 ) to supporting member ( 20 ). Based on the detection values of sensors ( 21, 22 ), detection processing unit 30 detects, in a distinguishing manner, forces and moments acting on force receiving member ( 10 ). When four columnar force transmitting members are used, all of forces Fx, Fy, and Fz and moments Mx, My, and Mz can be detected.
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