Six-axis sensor
First Claim
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1. A 6-axis sensor for measuring 6-axis forces and moments or 6-axis accelerations and angular accelerations, externally applied, characterized by comprising:
- a plurality of strain gauges disposed on one plane;
a plurality of first diaphragms to which the plurality of strain gauges are attached;
a first member comprising one of the plurality of first diaphragms;
a second member comprising a second diaphragm opposed to the one of the plurality of first diaphragms and provided with a plurality of strain gauges disposed on one plane; and
a connecting shaft connecting the opposed first and second diaphragms;
wherein the plurality of first diaphragms are arranged around a central point of the plane at regular angular intervals and at the same distance from the central point;
6-axis forces and moments applied between the first and second members are measured;
the strain gauges of the first member and the strain gauges of the second member are disposed symmetrically with respect to a barycentric point of the 6-axis sensor; and
either outputs of the strain gauges of the first member and the strain gauges of the second member are adopted if the other ouputs are out of a predetermined range.
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Abstract
A sensor strain causer can be made into a simple shape, and the attachment work for strain gauges is made easy. In a multiaxial sensor 1 for measuring one or more of multiaxial force, moment, acceleration, and angular acceleration, externally applied, a plurality of strain gauges R11 to R48 disposed on one plane are provided. Thereby, because the time for the attachment work for the strain gauges R11 to R48 can be shortened, the mass productivity can be improved and the cost can be reduced.
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Citations
15 Claims
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1. A 6-axis sensor for measuring 6-axis forces and moments or 6-axis accelerations and angular accelerations, externally applied, characterized by comprising:
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a plurality of strain gauges disposed on one plane; a plurality of first diaphragms to which the plurality of strain gauges are attached; a first member comprising one of the plurality of first diaphragms; a second member comprising a second diaphragm opposed to the one of the plurality of first diaphragms and provided with a plurality of strain gauges disposed on one plane; and a connecting shaft connecting the opposed first and second diaphragms; wherein the plurality of first diaphragms are arranged around a central point of the plane at regular angular intervals and at the same distance from the central point; 6-axis forces and moments applied between the first and second members are measured; the strain gauges of the first member and the strain gauges of the second member are disposed symmetrically with respect to a barycentric point of the 6-axis sensor; and either outputs of the strain gauges of the first member and the strain gauges of the second member are adopted if the other ouputs are out of a predetermined range. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A 6-axis sensor for measuring 6-axis forces and moments or 6-axis accelerations and angular accelerations, externally applied, the 6-axis sensor comprising:
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a plurality of strain gauges disposed on one plane; a plurality of first diaphragms to which the plurality of strain gauges are attached; wherein only one of the plurality of first diaphragms is disposed on the plane; a first member comprising one of the plurality of first diaphragms; a second member comprising a second diaphragm provided with a plurality of strain gauges disposed on one plane; and operative bodies connecting the first and second diaphragms, wherein the first and second members are disposed so that a central point of the first diaphragm of the first member is opposed to a central point of the second diaphragm of the second member, wherein the operative bodies connects the first and second diaphragms at positions arranged around the central points of the first and second diaphragms at regular angular intervals and at the same distance from the central points, and 6-axis forces and moments applied between the first and second members are measured, wherein the strain gauges of the first member and the strain gauges of the second member are disposed symmetrically with respect to a barycentric point of the 6-axis sensor, and wherein either outputs of the strain gauges of the first member and the strain gauges of the second member are adopted if the other outputs are out of a predetermined range. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification