Sensor for sensing three orthogonal forces and three orthogonal moments

摘要

A sensor includes six strain gages (21, 22, 23, 24, 25, 26) attached to a detection section (12) equidistantly in the circumferential direction of the detection section. The strain gages are of an orthogonal two-gage type and, in an orthogonal coordinates system (X, Y, Z) with the axial direction of the detection section as the Z-axis, are arranged such that their strain detection direction is inclined at an angle a of 0 a 45° from the Z-axis. A linear relation given by the following matrix expression exists between outputs ε₁, ε₂, ε₃, ε₄, ε₅, ε₆ of the six strain gages and six force components F_x, F_y, F_z, M_x, My, M_z: (ε₁, ε₂, ε₃, ε₄, ε₅, ε₆)^T = [B]. (F_x, F_y, F_z, M_x, My, M_z)^T where [B] denotes a matrix of coefficient and can be initially found by applying known force components to the detection section and calibrating. It is therefore possible to calculate force components from this matrix expression.