| 摘要 |
<p>@ A strain sensing arrangement includes a rigid annular ring (1) with axis AA', an upper central boss (2) and a lower co-axial central boss (3). An upper array of vertical, relatively flat, wide an flexible beams (4, 5, 6) are connected to the upper boss (2) and the ring (1) and a lower array of horizontal beams (8, 9) are connected to the lower boss (3) and the ring (1). Each of the beams (4-6,11,8,9,12,13) are provided with a strain gauge (7, 10) on each side thereof for detecting any deflection of the beams.</p><p>When the arrangement is utilised in an assembly robot, the end of an arm of the robot is inserted downwardly into the upper boss (2) and a gripper is inserted upwardly into the lower boss (3), so that the strain gauges (7, 10) can detect torsional and/or linear strain acting on the arrangement caused by relative rotation of the gripper with respect to the arm.</p> |
