Force moment sensor, force transducer module for such force moment sensor, and robot including such force moment sensor

摘要

A force and moment sensor includes four piezoelectric force transducers, an evaluation unit, a base plate and a cover plate. The base plate and the cover plate are mechanically connected to form a housing. The base plate defines a cavity in which the piezoelectric force transducers and the evaluation unit are arranged. The cover plate defines a delimiting surface on which the force to be detected acts. The four piezoelectric force transducers generate measurement signals for the detected force. The evaluation unit evaluates the measurement signals of the piezoelectric force sensors.