Force torque sensor, force torque sensor frame, and force torque measurement method

摘要

The present invention relates to a force torque sensor, a force torque sensor frame, and a force torque measurement method. The force torque sensor includes a central hub, a plurality of beams each having one side connected to the hub, and a rim connected to the other side of each beam to surround the hub and the plurality of beams. The force torque measurement method includes: a step of forming a gradient shape in a longitudinal direction thereof so that a section is provided in which a strain rate on each of the beams due to a force or torque is maintained within a predetermined value; and a step of measuring a strain rate in X-axis, Y-axis, or Z-axis directions after a strain gauge is attached to a corresponding section. Thus, a measurement center of the strain gauge may be positioned within a predetermined section.