TORQUE SENSOR METHOD FOR DETECTING TORQUES OCCURRING ON OR IN A JOINT OF AN ARTICULATED ARM ROBOT AND ARTICULATED-ARM ROBOT

摘要

The invention relates, in particular, to a torque sensor 10 for detecting torques occurring at or within joints of an articulated arm robot. The sensor comprises a plurality of measuring spikes (1, 2, 3, 4) designed to deform under the action of torque; And a plurality of strain gauges DR ₁₁ , DR ₁₂ , DR ₂₁ , DR ₂₂ , DR ₃₁ , DR ₃₂ , DR ₄₁ , DR ₄₂ , wherein each of the two strain gauges comprises the plurality of measurement spikes 1 , 2, 3, 4) on the two opposing sides. The plurality of strain gauges are then interconnected in one of at least two bridge circuits, respectively.