| 摘要 |
A strain sensing arrangement includes a rigid annular ring, which is co-axial with an upper central boss and a lower central boss. An upper array of vertical, relatively flat, wide and flexible beams are connected to the upper boss and the ring and a lower array of horizontal beams are connected to the lower boss and the ring. Each of the beams are provided with a strain gauge on each side thereof for detecting any deflection of the beams. When the arrangement is utilized in an assembly robot, the end of an arm of the robot is inserted downwardly into the upper boss and a gripper is inserted upwardly into the lower boss, so that the strain gauges can detect torsional and/or linear strain acting on the arrangement caused by relative rotation of the gripper with respect to the arm.
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