KR101876676B1 - 6-axis compliance device with force/torque sensing capability - Google Patents

Abstract

The present invention includes to a compliance device having a six-axis force/moment sensing function. The compliance device is reduced in size to be usable in small spaces, uses an inexpensive sensor to reduce fabrication cost, and is applicable to a variety of environments. A fixed block is a rigid body having a first center of gravity, and has a fixed coordinate system having three axes or X, Y, and Z axes, a fixed origin of which is defined on an imaginary axis passing through the first center of gravity. A work block is a rigid body having a second center of gravity, is spaced apart at a predetermined distance from the fixing block so as to be movable with respect to the fixed coordinate system of the fixed block, and has a movable coordinate system having X-Y-Z axes, and a movable origin of which is defined on an imaginary axis passing through the second center of gravity. A compliance unit is disposed between the fixed block and the work block to elastically support the work block with respect to the fixed block. When external force acts on the movable origin of the work block to relocate the movable origin of the work block with respect to the fixed origin of the fixed block, the sensor unit measures the forces in directions of the three axes, acting on the movable origin of the work block with respect to the fixed coordinate system, as well as three moments having the directions of the three axes as centers of rotation, by sensing an elastic displacement from the compliance unit.

Description

(6-AXIS COMPLIANCE DEVICE WITH FORCE / TORQUE SENSING CAPABILITY)

The present invention relates to a compliant device having a six-axis force / moment measurement function.

Industrial robots are used in various fields in modern industrial society. In the case of the early industrial robots, they simply moved heavy loads. As 3D environment recognition becomes possible, it is installed in main process line as well as logistics transfer work and performs various tasks. In the case of these industrial robots, they are simply performing position control. As the automation of the industry progresses gradually, various requirements such as productivity improvement, cost reduction, and small quantity production of various kinds are generated. In order to meet these demands, it is necessary to input industrial robots to the whole process as well as main process lines.

For example, if industrial robots are used for post-processing such as deburring, buffing, polishing, gliding, sanding, etc., a great deal of cost reduction can be achieved. The common point of the post-treatment process is that the work tool must be brought into contact with the surface of the workpiece with a certain force. As a result, force control as well as position control has become necessary. To solve these problems, a method of simultaneously controlling the position and force by attaching a compliant device to the robot wrist is proposed.

In the conventional force measuring method, a force / torque sensor (Force / Torque Sensor) capable of measuring force is attached to a wrist portion of a robot. It is attached to the wrist part of the industrial robot and is used to perform work requiring force control. However, since such a F / T sensor is a device that transmits necessary information to a signal rather than a work performing device, it is helpful to measure and control the force / moment. However, since the work tool is contacted and maintained It is impossible to do. In case of using the F / T sensor, it is necessary to use a work tool designed to maintain a constant force according to the work to be performed, and the internal structure is made of a cross-shaped elastic structure to limit the cross sensitivity. There is a problem. As shown in FIG. 1, the pressure of air is used to impart flexibility and a constant contact force to a work tool.

Hybrid control is widely known as one of the methods of controlling the force according to the prior art. Hybrid control refers to a method of using two kinds of position control and force control to control desired contact force. As shown in FIG. 2, when the position control is basically performed and the contact force is controlled at the same time, two control outputs are superimposed to produce a final result. In the case of hybrid control, the proposed method is based on the fact that the position control direction and the force control direction are orthogonal to each other. In order to prevent the position control and the force control from interfering with each other, the work space of the robot is classified into a space constrained by the contact surface and a space not constrained, and force control is performed on the constrained space. This is a direct force control method that directly uses the information about the force as the control amount of the robot.

The stiffness matrix between the robot and the object must be diagonalized to create the orthogonality of the position / force control direction. There is also a simultaneous control method using a remote-center-of-compliance (RCC) mechanism according to the prior art in a manner similar to the hybrid control. As shown in FIG. 3, the RCC mechanism is disadvantageous in that the stiffness matrix is diagonalized. As a way of solving these drawbacks, Griffis proposed a method to control the position / force in two directions that are orthogonal to the spatial stiffness of the system when there is a spring system between two rigid bodies Respectively. Duffy also proposed a control method that can decompose the position control direction and the force control direction for a general stiffness matrix that does not require diagonalization or compliance center.

The force measuring method according to the prior art is limited in order to use a simple force control method as described above and uses a compact method and a usable method when it exists at a specific position and uses a complex force control method There are two kinds. In order to solve this problem, the displacement of the spring device 10 is measured using the optical sensor 20 as shown in FIG. 5, with a Gough-Stewart platform structure as shown in FIG. Device has been developed. Although the optical sensor 20 uses a simple force control method and is more stable and higher in accuracy than the RCC apparatus and the F / T sensor described above, the apparatus is expensive due to the use of the optical sensor 20, It is also vulnerable to foreign substances.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a sensor that can be used in a narrow space and that can reduce the size of the apparatus and reduce manufacturing costs, 6-axis force / moment measurement function that can be applied to various environments and allows a simple force control method to be used so that the stiffness matrix is diagonally located, thereby measuring three forces and three moments on the work point And the like.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments with reference to the accompanying drawings.

In order to achieve the above object, a compliant apparatus having a six-axis force / moment measurement function according to the present invention is a rigid body having a first center of gravity, A fixed block having a second center of gravity and being movable with reference to a fixed coordinate system of the fixed block by a predetermined distance from the fixed block, A working block in which a moving source point of a moving coordinate system consisting of three axes of xyz is defined on a virtual axis passing through a second center of gravity; and a working block provided between the fixed block and the working block, An external force is applied to a movement origin of the work block, and a movement source point of the work block is moved to a position The controller detects the amount of elastic deformation from the adaptation unit and measures three forces acting on the movement origin of the work block on the basis of the fixed coordinate system, And a sensing unit for measuring moments of the sensor.

The adaptation device may include three first adaptation device modules, a second adaptation device module, and a third adaptation device module installed diagonally at intervals of 120 degrees between the fixed block and the work block, respectively .

Each of the first compliant device module, the second compliant device module and the third compliant device module includes a first elastic piece having one end fixed to the fixed block and the other end free, A first link member rotatably coupled to the other end of the shaft and rotatably coupled to the working block by a ball joint at an upper end thereof, and a second link member rotatably coupled to the working block at an upper end thereof so as to be symmetrical with respect to the first elastic piece, A second elastic piece having a free end at the other end and a lower end rotatably coupled to the other end of the second elastic piece so as to be symmetrical with the first link member by a ball joint, And a second link member coupled to the first link member.

Further, the working block and the fixing block are installed parallel to each other.

In addition, each of the first elastic piece, the second elastic piece, the first link member, and the second link member of each of the first compliant device module, the second compliant device module and the third compliant device module includes: And is provided on the same plane which is virtually perpendicular between the two.

The sensing and measuring unit may further include a plurality of sensing units each of which is attached to one surface of at least one of an upper surface and a lower surface of each of the first elastic piece and the second elastic piece to sense the elastic deformation amount of each of the first elastic piece and the second elastic piece, of the strain gage and the strain gauge transmits a respective signal take the strain gages each relative to the fixed coordinate system from the elastic deformation amount of the F _X, Y-axis direction on the X-axis direction acting on the moving origin of the working block F _Y, as F _Z rotate each of the three forces and the X-axis M _Y, Z axis direction to the M _X, Y-axis direction to the central rotation direction with a center of rotation centered about the Z-axis direction M _Z each And a microcomputer for calculating three moments.

The compliant device having the six-axis force / moment measurement function according to the present invention can simplify the adaptation device installed between the fixed block and the work block by fixingly coupling a plurality of elastic pieces capable of elastically deforming so as to be parallel to the upper surface of the fixed block Thereby miniaturizing the device.

In addition, it is robust against foreign substances introduced from the outside by using strain gauge, and can be used in various working environments.

Also, by attaching a strain gauge to an elastic piece, the amount of change in elasticity of the elastic piece is measured, thereby reducing the price of the sensor, thereby reducing the manufacturing cost of the device.

The first elastic member, the second elastic member, the first link member, and the second link member of each of the first adaptation device module, the second adaptation device module, and the third adaptation device module may be provided between the fixed block and the work block, And the center of gravity of the stiffness matrix is diagonalized.

The force control direction and the position control direction applied to the work point are made to be perpendicular to each other so as to use a direct force control method in which the information about the force, rather than the complicated force control method according to the related art, is directly controlled by the robot. There is a characteristic that control can be facilitated.

In addition, since the adaptation mechanism provided between the fixed block and the work block has elasticity, unlike the F / T sensor according to the related art, it is unnecessary to separately install the expensive work tool suited to the work target, There are features that can be installed and used.

1 is a perspective view showing a pneumatic work tool according to the prior art,
2 is a side view showing an embodiment of a force measuring device according to the prior art,
3 is a perspective view of a conventional RCC apparatus,
FIG. 4 is a side view showing a kinematic structure of a Gau-Stewart platform according to the prior art,
5 is a perspective view showing an apparatus using an optical sensor according to the related art,
FIG. 6 is a perspective view showing a compliant device having a six-axis force / moment measurement function according to the present invention,
FIG. 7 is a side view of the adaptation mechanism in the embodiment of FIG. 6,
8 is a front view showing a compliant apparatus having a six-axis force / moment measurement function according to the present invention,
FIG. 9 is a side view showing a compliant apparatus having a six-axis force / moment measurement function according to the present invention,
10 and 11 are side views showing a kinematic conceptual diagram of a compliant device having a six-axis force / moment measurement function according to the present invention,
Figs. 12, 13 and 14 are exploded side views of the external force acting on the first elastic piece in the embodiment of Fig. 8,
FIG. 15 is a perspective view showing a strain gage in the embodiment of FIG. 6,
16 is a photograph showing an adaptation device having a six-axis force / moment measurement function according to the present invention,
17 is a perspective view showing still another embodiment of a compliant device having a six-axis force / moment measurement function according to the present invention,
FIG. 18 is a side view showing a compliant apparatus having a six-axis force / moment measurement function attached to a work robot in the embodiment of FIG. 17. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of a compliant device having a six-axis force / moment measurement function according to the present invention will be described in detail with reference to the accompanying drawings.

6 to 9, the adaptation apparatus having the six-axis force / moment measurement function according to the present invention includes a fixed block 100, a work block 200, a compliant unit 300, a sensing unit 400 Wherein the sensing and measuring unit 400 includes a first adaptation device module 310, a second adaptation device module 320, and a third adaptation device module, (410), and a microcomputer (420).

6 and 18, the fixed block 100 is a rigid body having a first center of gravity and disposed at an end of the manipulator of the robot, that is, an end-effector, and the first center of gravity 110 ), A fixed origin of a fixed coordinate system of three axes of XYZ is defined on a hypothetical axis line. The fixed coordinate system is a reference coordinate system for expressing the relative coordinate system generated by a certain distance without changing the unit vector of each of the three axes of X-Y-Z according to the position.

The work block 200 is a rigid body that is spaced a predetermined distance from the fixed block 100 and is movable relative to a fixed coordinate system of the fixed block and has a second center of gravity 210, A moving source point of a moving coordinate system of three axes of xyz is defined on a virtual axis line passing through the center axis. The moving coordinate system is a coordinate system expressed based on a fixed coordinate system, and is a coordinate system necessary for expressing force in three axial directions of a moving coordinate system when a force is applied to a working block.

The adaptation device 300 is installed between the fixed block 100 and the work block 200 and elastically supports the work block 200 with respect to the fixed block 100. The adaptation device unit 300 includes three first adaptation device modules 310, a second adaptation device module 320, and a third adaptation device module 330, which will be described later.

6, an external force acts on the movement origin of the work block 200 to move the movement origin of the work block 200 relative to the fixed origin of the fixed block 100, When the position of the work block 200 is moved, the amount of elastic deformation from the adapting unit 300 is sensed, and based on the fixed coordinate system, three forces acting on the movement origin of the work block 200, Measure three moments with the rotation center in each direction. The sensing unit 400 includes a strain gauge 410 and a microcomputer 420, which will be described later.

6, the first adaptation device module 310, the second adaptation device module 320, and the third adaptation device module 330 are installed between the fixed block 100 and the work block 200, respectively, Are diagonally installed at intervals of 120 degrees. Each of the first adaptation device module 310, the second adaptation device module 320 and the third adaptation device module 330 has a first elasticity having one end fixed to the fixed block 100, A first link member 311 rotatably coupled to the other end of the first elastic piece 311 by a ball joint and an upper end rotatably coupled to the work block 200 by a ball joint, A second elastic piece 312 whose one end is fixed to the fixed block 100 so as to be symmetrical with the first elastic piece 311 and whose other end is a free end; A second link member 314 which is rotatably coupled to the other end of the second elastic piece 312 by a ball joint so as to be symmetrical with respect to the first elastic piece 312 and whose upper end is rotatably engaged with the work block 200 by a ball joint, ).

Each adaptation device module is coupled in an isosceles trapezoidal shape as shown in FIG. 8, when an external force is applied to the work block 200, the force is dispersed by the first link member 313 and the second link member 314 so that the first and second elastic pieces 311, (312). That is, a mechanism 6 (see FIG. 1) leading to the fixed block 100, the first elastic piece 311, the first link member 313, the working block 200, the second link member 314, Each of the adaptation device modules 310, 320 and 330 composed of the link members can be used at a higher load than the F / T sensor according to the related art, and can be used more stably than the F / T sensor when the same external force acts. There is an advantage.

The first and second elastic pieces 311 and 312 and the first link member 313 and the second link member 314 that are rotatable with the first elastic piece 311 and the second elastic piece 312, Which are combined in the order of a fixed block 10, a spring device 30 and a work block 20 according to the prior art in a Prismatic-Spherical-Spherical (PSS) SPS (spherical-prismatic-spherical) structure, and this structure has the effect of making it smaller than the compliant device of the optical measuring method according to the related art.

9, the work block 200 and the fixed block 100 are installed in parallel with each other, and the first adaptation module 310, the second adaptation module 320, the third adaptation module 320, Each of the first elastic piece 311 and the second elastic piece 312 of the device module 330 is connected to the fixed block 100 and the working block 200 on a virtual coplanar basis. In this structure, when the work block 200 is moved by an external force, the movement coordinate system of the work block 200 is not rotated with respect to the fixed coordinate system of the fixed block 100. [ When an external force is transmitted to the first elastic piece 311 and the second elastic piece 312 to cause elastic deformation, no distortion occurs in each elastic piece, only linear strain is generated, and as shown in Fig. 7 When the first link member 313 and the second link member 314 are coupled with each other, the center of gravity of the stiffness matrix is diagonally formed at the point where the extension line is formed.

As described above, the adaptation device having the six-axis force / moment measurement function of the present invention is designed to have the center of conformity, and the relationship of the design variables can be expressed as follows.

는 작업블록(200)의 반경,

는 고정블록(100)의 반경,

는 고정블록(100)의 중심을 기준으로 제1 링크부재(313) 및 제2 링크부재(314)가 제1 탄성편(311)과 제2 탄성편(312)에 결합된 지점까지 이격된 각도를 나타내며,

는이동블록(200)의 중심을 기준으로 제1 링크부재(313) 및 제2 링크부재(314)가 이동블록(200)에 결합된 지점까지 이격된 각도를 나타낸다. 또한,

는 제1 링크부재(313)및 제2 링크부재(314)의 길이를 의미하고,

는 제1 탄성부재(311) 및 제2 탄성부재(312)가 제1 링크부재(313) 및 제2 링크부재(314)와 결합되어 형성하는 각도를 나타내며,

는 고정블록(100)으로부터 작업블록(200)이 이격된 거리를 의미한다. here,

The radius of the work block 200,

The radius of the fixed block 100,

The first link member 313 and the second link member 314 are separated from each other by a distance from the center of the fixed block 100 to a point where the first link member 313 and the second link member 314 are coupled to the first elastic piece 311 and the second elastic piece 312, Lt; / RTI >

Refers to an angle separated to a point where the first link member 313 and the second link member 314 are coupled to the moving block 200 with respect to the center of the moving block 200. [ Also,

Means the length of the first link member 313 and the second link member 314,

Represents an angle formed by the first elastic member 311 and the second elastic member 312 combined with the first link member 313 and the second link member 314,

The distance from the fixed block 100 to the work block 200 is a distance.

,

,

가 결정되면, 나머지 설계변수인

,

,

는 다음의 수식을 통해 구할 수 있다. Here, among the six design variables

,

,

Is determined, the remaining design variables

,

,

Can be obtained by the following formula.

가 된다.here,

.

FIGS. 10 and 11 show the meanings of the design variables of the equations (1) to (6). Further, when the design parameters are determined through Equations (1) to (6), the stiffness matrix has a center of adaptation that is diagonalized.

Also, as shown in Figs. 12 to 14, the stiffness matrix can be obtained by the following equation.

는 제1 탄성편(311) 및 제2 탄성편(312)의 처짐을 나타내고,

는

의 종방향 처짐을 나타낸다. 또한, 상술한 바와 같이 제1 탄성편(311) 및 제2 탄성편(312)에 비틀림이 생기지 않는 구조이기 때문에 횡방향 처짐

는 0이 된다.here,

Shows deflection of the first elastic piece 311 and the second elastic piece 312,

The

Lt; / RTI > Further, since the first elastic piece 311 and the second elastic piece 312 are not twisted as described above, the lateral deflection

Becomes zero.

를 종방향 힘

, 횡방향 힘

으로 분리하고, 종방향 처짐

을 수식화 시키면 다음과 같이 표현된다.The external force acting on the work block 200 is transmitted to the first elastic piece 311 and the second elastic piece 312 through the first link member 313 and the second link member 314

The longitudinal force

, Lateral force

, And longitudinal deflection

Is expressed as follows.

는 종탄성계수를 의미하고,

는 관성모멘트를 나타낸다. 즉,

는 굽힘강도를 의미하고,

은 제1 탄성편(311) 및 제2 탄성편(312)의 종방향 길이인 고정블록(100)의 결합지점으로부터 자유단까지의 거리를 나타낸다.here,

Means the longitudinal elastic modulus,

Represents the moment of inertia. In other words,

Quot; means the bending strength,

Represents the distance from the coupling point to the free end of the fixing block 100 which is the longitudinal length of the first elastic piece 311 and the second elastic piece 312. [

Equation (8) can be derived from the following equation.

The deflection of the cantilever subjected to the concentrated load is as shown in equation (9), where P denotes the concentrated load.

는 도 12에 도시된 바와 같이

를 대입하여 다음과 같이 표현할 수 있다.In Equation (8)

As shown in Fig. 12

Can be expressed as follows.

Equation (10) can be substituted into Equation (7) to be summarized as follows.

에 대하여 정리하게 되면 다음과 같이 조인트 강성을 구할 수 있다.In Equation (11)

The joint stiffness can be obtained as follows.

는 That is,

The

(13) " (13) "

Also, if the stiffness is represented by an ideology, it can be expressed as a vector as follows.

는 작업블록(200)에 작용하는 힘과 모멘트 벡터이고,

는 미소 직선 및 회전변위 벡터를 나타낸다.here,

Is a force and moment vector acting on the work block 200,

Represents a micro straight line and a rotational displacement vector.

는 다음과 같이 대각화되는 행렬로 표현된다.As described above,

Is represented by a matrix that is diagonalized as follows.

The stiffness matrix is diagonalized as shown in Equation (15).

, Y축 방향에 대한

, Z축 방향에 대한

각각의 3개의 힘 및 X축 방향을 회전중심으로 하는

, Y축 방향을 회전중심으로 하는

, Z축 방향을 회전중심으로 하는

각각의 3개의 모멘트를 계산한다.15, the strain gage 410 of the sensing and measuring unit 400 may be disposed on one surface of at least one of the upper surface and the lower surface of each of the first elastic piece 311 and the second elastic piece 312, And detects the amount of elastic deformation of the first elastic piece 311 and the second elastic piece 312, respectively. The microcomputer 420 receives a signal from each of the strain gauges 410 and receives an amount of elastic deformation of each of the strain gauges 410 from an X axis For direction

, For the Y-axis direction

, For the Z-axis direction

Each of the three forces and the X-axis direction as the center of rotation

, The Y-axis direction as the rotation center

, The Z-axis direction as the rotation center

Calculate each of the three moments.

In addition, the strain gage 410 constitutes a Wheatstone bridge circuit, and is connected to the microcomputer 420 through a wire and sends a signal. The Whiston bridge circuit differs from the equation for obtaining the amount of elastic deformation according to the connection method, and one embodiment of the present invention constitutes a bending type full bridge circuit.

As shown in FIG. 16, the microcomputer 420 amplifies the signal of the strain gage 410, processes the amplified signal, and returns the amplified signal to the user with respective force and moment values.

As described above, the adaptation device having the six-axis force / moment measurement function according to the present invention is configured such that a plurality of the first elastic pieces 311 and the second elastic pieces 312 are fixed to be parallel to the upper surface of the fixed block 100 The strain gauge 410 is connected to the first elastic piece 311 and the second elastic piece 311 so as to reduce the size of the device by simplifying the compliant device 300 installed between the fixed block 100 and the work block 200, It is possible to reduce the production cost of the device by reducing the price of the sensor by measuring the amount of elasticity change of each of the first elastic piece 311 and the second elastic piece 312 by attaching to the piece 312. [ In addition, it can be used in various working environments without being influenced by foreign substances introduced from the outside. By designing the stiffness matrix to have an adaptation center where diagonalization becomes diagonal, information on force, which is not a complicated force control method, And the compliant mechanism 300 installed between the fixed block 100 and the work block 200 as shown in FIGS. 17 and 18 has a resilient structure Which is different from the F / T sensor according to the related art, it is possible to install a desired work tool on the work block 200 without using expensive expensive work tools to be installed.

The embodiments of the present invention described above and shown in the drawings should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those skilled in the art will be able to modify the technical idea of the present invention in various forms. Accordingly, such improvements and modifications will fall within the scope of the present invention as long as they are obvious to those skilled in the art.

10: Spring device
20: Optical sensor
100: fixed block 110: first center of gravity
200: work block 210: second center of gravity
300:
310: first adaptation module 320: second adaptation module
330: Third adaptation module
311: first elastic piece 312: second elastic piece
313: first link member 314: second link member
400:
410: strain gauge 420:

Claims (6)

A fixed block having a first center of gravity and defining a fixed origin of a fixed coordinate system of three axes of X, Y and Z axes on a virtual axis passing through the first center of gravity,
A rigid body having a second center of gravity and being movable with respect to a fixed coordinate system of the fixed block spaced apart from the fixed block by a predetermined distance and being movable along a virtual axis passing through the second center of gravity, A movement block in which a movement source point of the moving coordinate system is defined;
A compliant device installed between the fixed block and the work block and elastically supporting the work block with respect to the fixed block;
When an external force is applied to a movement origin of the work block and a movement source point of the work block moves based on a fixed origin of the fixed block, an amount of elastic deformation is sensed from the adaptation unit, and based on the fixed coordinate system, And a detection measuring section for measuring three forces acting on the three origin axes acting on the movement origin and three moments about the rotation axes of the three axes,
The adaptation device comprises:
A first adaptation module, a second adaptation module, and a third adaptation module installed diagonally at intervals of 120 degrees between the fixed block and the work block, respectively,
Wherein each of the first adaptation module, the second adaptation module and the third adaptation module includes:
A first elastic piece whose one end is fixed to the fixed block and whose other end is a free end;
A first link member having a lower end rotatably coupled to the other end of the first resilient piece by a ball joint and an upper end rotatably coupled to the work block by a ball joint,
A second elastic piece having one end fixed to the fixed block so as to be symmetrical with the first elastic piece and the other end being free,
And a second link member having a lower end rotatably coupled to the other end of the second elastic piece so as to be symmetrical with respect to the first link member and rotatably coupled to the other end of the second elastic member by a ball joint, And a six-axis force / moment measurement function.
delete delete The method according to claim 1,
Wherein the working block and the fixed block are installed parallel to each other.
5. The method of claim 4,
Each of the first elastic piece, the second elastic piece, the first link member, and the second link member of each of the first compliant device module, the second compliant device module and the third compliant device module,
Wherein the first and second actuators are mounted on a coplanar vertical plane between the fixed block and the working block.
The method according to claim 1,
Wherein the sensing unit comprises:
A plurality of strain gauges attached to one surface of at least one of an upper surface and a lower surface of each of the first elastic piece and the second elastic piece to sense an elastic deformation amount of each of the first elastic piece and the second elastic piece,
Wherein the strain gauges are transmitted from each of the strain gauges and are subjected to F _X , F _Y , and Z _Y directions with respect to the X-axis direction acting on the movement origin of the work block from the elastic transformation amount of each of the strain gages, calculating a F _Z each of the three force and X-axis three moment M _Z, respectively to the M _Y, Z-axis direction as the center to rotate the M _X, Y-axis direction of the center rotational direction with a rotational center for direction And a microcomputer having a six-axis force / moment measurement function.

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