| 摘要 |
PURPOSE:To obtain an appropriate sensitivity to force and moment in any direction pertaining to a force sensor for detecting external force mounted on the wrist of a robbot by arranging a plurality of arms extending radially from the center in a construction of bending beam. CONSTITUTION:The body of a force sensor has a base plate 10 cut out of a disc in a shape of a human hand. A strain gage 17 is applied somewhere on the six cantilever beams 11-16 as a part of the base plate 10 to detect a distortion caused in any of the centilever beams. With such an arrangement, the force sensor made thinner enables effective utilization of working space when mounted on the wrist of a robot and can provide an even sensitivity to a 6-axis stress. |
