| 摘要 |
PCT No. PCT/JP88/00930 Sec. 371 Date Jun. 19, 1989 Sec. 102(e) Date Jun. 19, 1989 PCT Filed Sep. 14, 1988 PCT Pub. No. WO89/02587 PCT Pub. Date Mar. 23, 1989.An elementary sensor for sensing a force comprises a transducer for transforming a mechanical deformation to an electric signal, and a first strain generative body (20) including a supporting portion (21) and a working portion (23) connected to the transducer so as to allow the transducer to produce a mechanical deformation on the basis of a displacement relative to the supporting portion of the working portion. By further adding a second strain generative body (30) including a fixed portion (31) fixed at least with respect to the direction of a force to be detected, and a displacement portion (33) connected to the working portion of the first strain generative body, wherein the displacement portion is constructed to produce a displacement based on a given external force relative to the fixed portion to transmit the displacement thus produced to the working portion of the first strain generative body, a force detector applicable to a wide variety of measurement ranges can be realized. Moreover, by allowing the displacement portion to be elongated, a detector suitable for measurement of both force and moment can be provided. In addition, a stylus (306) can be connected to the elementary sensor to apply it to a contact detector, and the elementary sensor can be affixed at the hand of a robot to apply it to a gripper for the robot.
|
