Force-torque sensor has disc-shaped reception part with peripheral sections attached to central part via respective spokes and coupled via coupling sections

摘要

The sensor has a monolithic disc-shaped reception part (20) with a planar surface having a central part (21) with high rigidity and at least 3 peripheral sections (22) of medium rigidity at the ends of respective radial spokes (24), coupled via sections (23) of low rigidity. The spokes are each provided with a U-shaped recess, with expansion measuring strips connected in a Wheatstone bridge circuit applied to the planar surfaces of the peripheral sections and the coupling sections, for providing 3 force values and 3 torque values.