| 摘要 |
PURPOSE: A six-axis force/moment sensor for gripper of robot is provided to use the robot as a commercial robot by independently constructing an upper detecting sensor, a lower detecting sensor, and a center detecting sensor. CONSTITUTION: A six-axes force/moment sensor for a gripper of a robot includes an upper detecting sensor(1), a lower detecting sensor, and a center detection sensor(1). The upper detecting sensor(1) detects moment Mz in formation in which a parallel flat plate beam is positioned on a front part of an upper center block(13) and another parallel flat plate beam is positioned on a rear part of the upper center block(13). The lower detecting sensor detects force Fx and Fy and moment Mx and My in formation in which two parallel flat plate beams are positioned on a left part of the upper center block(13) and two parallel flat plate beams are positioned on a right part of the upper center block(13). The center detecting sensor detects force Fz. The upper detecting sensor(1),the lower detecting sensor, and the center detecting sensor are constructed as one body.
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