WEIGHT SENSIBLE DEVICE

摘要

PROBLEM TO BE SOLVED: To make a first body sensible by means of a second body qualified as a prototype of the first body as an actual product to be manufactured using a three dimensional design device 3DCAD by means of a computer. SOLUTION: The three dimensional configuration stored in the memory of a 3DCAD of a first body is read out so as to allow its volume V to be operated, and the weight M1g(=μVg) of the first body is operated so as to be obtained by multiplying its specific gravityμto the aforesaid volume. A supporting means 11 to which a second body 12 is fixed, is mounted to the wrist end 8 of a six axes robot main body 7 acting as a manipulator. Force in the vertical direction equivalent to the weight M1.g of the first body is applied to the second body 12. A six axes force sensor is mounted between the wrist end 8 and a sensible assembly 9, and when the second body 12 is touched by a man with his fingers, the force is detected by the force sensor, and moment corresponding to the detected force is thereby produced, so that feeling is given to the man as if he held the first body with his hands.