| 摘要 |
PURPOSE:To directly detect forces in three axial directions and that around axes, by respectively providing fixed members in three axes X, Y, Z and movable members freely movable and revolvable to axial directions and around axes while providing an input member to the Z-axis and respectively attaching force detectors to said axes. CONSTITUTION:A fixed member 1, a force detector 2 attached in an X-axis direction and a movable member 3 freely movable and revolvable in the X-axis direction and around the X-axis are provided and, similarly, force detectors 4, 6 and movable members 5, 7 are respectively provided in Y- and X-axis directions while an input member C is attached to the movable member 7 of the Z-axis. The forc applied to the input member C is decomposed into six-degree-of-freedom forces in axial direction and around axes of X.Y.Z triaxial orthogonal coordinates and forces in axial direction and around axes are detected by the force detectors 2, 4, 6 respectively attached to the axial systems. By this method forces in axial directions and around axes of triaxial orthogonal coordinates can be directly detected and, because of a simple structure, the title apparatus can be fabricated inexpensively. |
