| 摘要 |
A force-moment sensor, as an article of manufacture, for detecting and controlling movements of a robot arm, positionable between the arm and a tool wherein a pair of parallel disc or plate members are joined together adjacent their outer peripheries by a plurality of spaced apart unitary bridge elements or members to form a cylindrical chamber between the discs. In one form the ring member between the disc members has formed therein at least three generally circular or polygonal shaped bridge elements, each having a central opening therethrough. Each of the bridge elements extends across a slot extending circumferentially around a portion of and through the ring between the bridge elements, and a pair of slots at each end of and angularly transverse to the circumferential slot to define the circular bridge elements. In another form the two discs have complementary recesses cut at equal intervals in their peripheries to receive one or more platelets welded therein to the discs apart. Preferably, the edges of the platelets are similarly cut to form the bridge element within the platelets and then the edges of the platelets are carved to join the slot between the plates to leave the bridges as the sole connections between the plates. Also disclosed is a method of forming the sensor unit. Strain gages are mounted on the edges or center of the bridge elements to form sensing apparatus for detecting forces and/or moments in any of a plurality of mutually perpendicular directions to permit control of a robot arm and tool.
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