| 摘要 |
PURPOSE:To eliminate an operation error and to improve efficiency by installing a displacement detecting means at a pair of the first and second parallel plate springs and cross-shaped plate springs and controlling an action channel of a shifted body by means of this. CONSTITUTION:A joy stick is equipped with a supporting body 2 composed of an elastic body installed in a teaching box. The supporting body 2 functions as a mechanical compliance mechanism, consists of two pairs of parallel plate springs 22 and 23 which can be displaced in the X and Y directions which mutually intersect orthogonally, a cross-shaped plate spring 21 installed on the upper surface of the assembled body, skewness gauges 3a-3f which are stuck to respective springs, and a connecting bar 4 which can be displaced in all directions for the vertical shaft installed at the center of the cross-shaped plate spring 21. Thus, when the connecting bar 4 is displaced by manually operating a teaching lever, forces (Fx-Fz and Mx-My) are completely separated and detected and an action channel of a robot can be taught. |
