微小力測定用平面三軸力覚センサの開発

概要

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In the present paper, we propose an H-slit beam which can be effectively utilized to achieve a highly unidirectional deformable structure, and the outlines and characteristics of a 3-axis force/torque sensor based on the above proposal is also reported. This force/torque sensor can measure very small reaction forces/torques generated by the motions of a robotic manipulator having its degrees of freedom in only one plane. For such application, a sensor structure which accepts no effect of gravitational force influence on the manipulator's structure, is needed. The important points to consider include that the sensor should be sensitive only in the direction of measurement of force/torque, and very stiff in all other directions. To achieve these goals, we propose the H-slit structure as an extension of the parallel beam structure. The idea behind is the formations of a 4-1ink closed structure; the joints between the links are deformable, so the strain guages are fixed at these positions. By changing the dimensions of links, a variation in sensativity and directional stiffness is possible, and by changing the dimensions of H-slit, a mechanical over-load protection is also achieved.
1998-05-25