KR102123696B1 - 6-axis compliance device with force/torque sensing capability - Google Patents

Abstract

The present invention relates to a compliant device having a 6-axis force/moment measurement function, a fixed frame in which a fixed origin of a fixed coordinate system of three axes of XYZ is defined, and a fixed coordinate system of the fixed frame spaced apart above the fixed frame The movable frame is installed to be movable on the basis of, and the moving origin of the three-axis moving coordinate system is defined, and is installed between the fixed frame and the moving frame to support the moving frame with respect to the fixed frame, and the fixed The adaptive mechanism part elastically deforms when an external force acts on the moving origin of the moving frame based on the fixed coordinate system of the frame, and the amount of deformation of the adaptive mechanism part to the moving origin of the moving frame based on the fixed coordinate system. And a sensing measurement unit for measuring three forces for each direction of each of the three axes acting and three moments for each direction of the three axes as a center of rotation. It includes three first support deformation modules, a second support deformation module, and a third support deformation module diagonally installed at an interval of 120 degrees, and the first support deformation module, the second support deformation module, and the third support deformation module Each of the modules is characterized in that the first elastic deformable member and the second elastic deformable member formed in the shape of a'b' shaped plate are connected to each other in series.

Description

Adaptation device with 6-axis force/moment measurement function{6-AXIS COMPLIANCE DEVICE WITH FORCE/TORQUE SENSING CAPABILITY}

According to the present invention, when a work tool coupled to a work robot processes or assembles an object by using an adaptation center formed on a central axis of the work robot, it acts in a 3-axis direction to prevent damage to the object and the work tool by contacting with a constant pressure It relates to an adaptive device having a 6-axis force/moment measurement function that measures 3 moments generated by rotating about 3 forces and the center of the 3 axis.

Industrial robots are used in various fields in the modern industrial society. In the case of the initial industrial robot, it simply performed the role of carrying a heavy load, but as it became possible to recognize the 3D environment, it was installed in major process lines as well as logistics transportation, and is performing various tasks. As the automation of the industry gradually progressed, various requirements such as productivity improvement, cost reduction, and small-scale production of various types were created, and in order to meet these requirements, it was necessary to put industrial robots into the entire process line as well as the main process line. .

For example, deburring, buffing, polishing, grinding, sanding, and the like, as well as injecting industrial robots into product assembly work to assemble each part, can greatly reduce the cost. The commonality of these works is that the work tool must be moved along the surface of the work while maintaining a constant contact force to the work surface. Therefore, it is necessary not only to control the position of the working robot, but also to control the force. In order to solve the above-described problems, a method of simultaneously controlling a position and a force by using a device capable of knowing stiffness at the end of the working robot, that is, a wrist, is used.

The force control method according to the prior art is used for a work requiring force control by attaching an F/T sensor (Force/Torque Sensor) capable of measuring force to the wrist portion of the working robot. However, since the F/T sensor is a device that transmits the necessary information as a signal, not a device that performs work, it helps to measure and control the force/moment, but with a constant force, the work tool is contacted and maintained on a hard object surface. Very difficult to do.

That is, in order to maintain a constant pressure on the surface of the object, a flexible work tool should be used, and the internal structure of the F/T sensor is composed of a cross-shaped elastic structure, so it is limited in minimizing cross-sensitivity. There is a problem that there is. Accordingly, as shown in FIG. 1, a device having a force/moment measurement function having flexibility while simultaneously detecting a force/moment was developed.

First, a fixed frame 10 in which a fixed origin of the fixed coordinate system is defined, a moving frame 20 spaced upward from the fixed frame 10, and a moving frame 20 in which a moving origin of the movable coordinate system is defined, and the fixed frame 10 ) Is installed between the moving frame 20 to support the moving frame 20 with respect to the fixed frame 10, each of the three axes acting on the moving origin of the moving frame 10 based on the fixed coordinate system It is composed of a conforming mechanism 30 for measuring three forces with respect to the direction and three moments with each direction as the center of rotation.

Here, one end of the adaptation mechanism 30 is coupled to the fixed frame 10 and the ball joint, and the other end is coupled to the moving frame 20 and the ball joint. In addition, a buffer cylinder is provided to mitigate the impact when the moving coordinate system of the moving frame moves due to an external force acting on the moving frame 20. The buffer cylinder is provided with a spring inside to form a micro displacement to give the device flexibility.

Moreover, the external force acting on the moving frame 20 through the optical sensor installed on the outer surface of the buffer cylinder is measured by measuring the small displacement that is formed by compression of the spring installed inside the buffer cylinder. You will measure direction and size. However, in the case of the optical sensor, there is a problem that the cost of the device is high because it is expensive, and there is a disadvantage that the environment that can be used is limited due to the nature of the optical sensor and is vulnerable to foreign substances coming from outside.

In order to compensate for the above-mentioned problems, in the'adaptation device having a 6-axis force/moment measurement function' of the patent registration No. 10-1876676 filed and registered by the present applicant, force/moment measurement using a strain gauge as shown in FIG. A device with functions was developed. That is, the fixed frame 10 and the moving frame 20 and the adaptation mechanism 30 have the same, but the structure of the adaptation mechanism 30 is changed from a conventional spring-cylinder structure to a new structure called a link member and an elastic piece. In addition, by measuring the amount of deformation by attaching a strain gauge to the elastic piece, it measures the three forces and three moments acting on the moving origin based on the fixed coordinate system, while significantly reducing the cost of the device while damaging and damaging the workpiece and work tool. It became possible to prevent.

However, the cylinder-spring structure and the link-elastic piece structure, which are the prior arts described above, are suitable for a work requiring high rigidity or a medium-large-sized robot operation, but are limited in structural miniaturization. Of course, it can be manufactured in a very small size, but a new and simple structure adaptive device suitable for miniaturization and precision is needed.

The object of the present invention, devised in view of the above, is more suitable for miniaturization and precision, and can be applied to various working environments without being influenced by foreign substances introduced from the outside while being able to reduce manufacturing cost and simple force control method It is to provide an adaptive device having a 6-axis force/moment measurement function capable of measuring 3 forces and 3 moments using.

In order to achieve the above object, the acclimatization device having a 6-axis force/moment measurement function according to the present invention is a fixed frame in which a fixed origin of a fixed coordinate system of three axes of XYZ is defined, and spaced upward from the fixed frame The moving frame is installed to be movable based on the fixed coordinate system of the fixed frame, and the moving frame in which the moving origin of the three-axis moving coordinate system is defined, and the fixed frame and the moving frame to support the moving frame with respect to the fixed frame It is installed between, and the adaptive mechanism part elastically deforms when an external force acts on the moving origin of the moving frame based on the fixed coordinate system of the fixed frame, and the amount of deformation of the adaptive mechanism part based on the fixed coordinate system. And a sensing measurement unit for measuring three forces for each direction of the three axes acting on the moving origin of the moving frame and three moments for each direction of the three axes as a rotation center, wherein the conforming mechanism unit comprises the fixed frame And three first support deformation modules, a second support deformation module, and a third support deformation module, each of which is diagonally installed at an interval of 120 degrees between the moving frame and the first support deformation module and the second support. Each of the deformation module and the third support deformation module is characterized in that the first elastic deformation member and the second elastic deformation member, each formed in a'b'-shaped plate shape, are installed in series with each other.

In addition, the first elastic deformation member, the length of the first elastic piece having a longer horizontal side than the first fixed piece has a'b' shape, and the first elastic piece is parallel to the fixed frame so that the first elastic piece A start end is fixedly coupled to the moving frame, and the second elastic deformation member has a'b' shape with a length of the second elastic piece having a longer transverse side than the second fixed piece having a vertical side, and the second elastic piece has the first The first end of the second fixing piece is fixedly coupled to the fixing frame so as to be perpendicular to the first elastic flat of the elastic deformation member, and each of the first support deformation module, the second support deformation module and the third support deformation module is the first It characterized in that it further comprises a connecting joint for connecting the ends of the first elastic piece of the first elastic deformation member and the second elastic piece of the second elastic deformation member, respectively.

In addition, the connection joint is characterized in that the ball joint.

In addition, the sensing unit is attached to each of at least one of the upper and lower surfaces of each of the first elastic piece and the second elastic piece, a plurality of sensing deformation amounts of the first elastic piece and the second elastic piece, respectively strain gage and the strain gages each signal transmission received on the F _X, Y-axis direction on the X-axis direction acting on the moving origin of the mobile frame relative to the fixed coordinate system from each of the strain the strain gage F _Y for , 3 forces of each of F _Z in the Z-axis direction and M _X with the rotational center in the _X- axis direction, M _Y with the rotational center in the _Y- axis direction, and 3 each of M _Z in the Z-axis direction as the rotational center. Characterized in that it comprises a micom for calculating the moment.

In addition, the fixed frame and the moving frame is characterized in that horizontally installed in parallel to each other.

In addition, the fixed frame is characterized in that the lower portion is a closed cylindrical shape, and the movable frame is installed in a circular shape having a diameter smaller than the inner diameter of the fixed frame so as to be flowable on the open upper portion of the fixed frame. .

According to the present invention, the adaptive device having a 6-axis force/moment measurement function has a fixed frame and a moving frame and a conforming mechanism, and consists of three modules diagonally configured, and each module is'b' Through the new structure of connecting and installing the first elastic deformation member and the second elastic deformation member in a plate shape in series, the adaptation mechanism part is drastically simplified to reduce manufacturing costs while having a more suitable effect for precision and miniaturization.

In addition, since the first elastic piece of the first elastic deformation member and the second elastic piece of the second elastic deformation member have mutually perpendicular structures, three forces and three moments in the three-axis direction are applied to the first elastic piece and the second elastic It can be measured through the strain gauge attached to the piece, and it is also robust to foreign matter flowing from the outside, so it can be used in various working environments.

In addition, by installing the fixed frame and the moving frame in parallel with each other, the force control direction and the position control direction applied to the moving origin of the moving frame are made to be perpendicular to each other, thereby making it simple and easy to control the force.

In addition, the fixed frame is formed in a cylindrical shape, and the movable frame can be flexibly coupled to the open upper part of the fixed frame so that it can be easily inserted and installed in the arm, wrist, or any part of the working robot. There is an effect that can be conveniently installed.

1 is a perspective view showing an embodiment of a compliant device having a 6-axis force/moment measurement function according to the prior art,
Figure 2 is a perspective view showing another embodiment of a conforming device having a six-axis force / moment measurement function according to the prior art,
3 is a perspective view showing an embodiment of a compliance device having a six-axis force / moment measurement function according to the present invention,
4 is a main part perspective view showing a first adaptive device module of the embodiment of FIG. 3,
Figure 5 is a perspective view of a main portion showing another embodiment of the first adaptive device module compared to the embodiment of Figure 4,
6 is a configuration diagram showing the acclimatization unit and the sensing measurement unit in the embodiment of FIG. 3,
7 is an exploded view showing another embodiment of the adaptive device having a six-axis force / moment measurement function according to the present invention,
8 is a combined perspective view of the embodiment of FIG. 7,
FIG. 9 is a side view showing a state in which a compliant device having a 6-axis force/moment measurement function according to the present invention is installed and used in a working robot.

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

According to the present invention, a compliant device having a 6-axis force/moment measurement function, as shown in FIGS. 3 to 9, a fixed frame 100, a moving frame 200, a compliant mechanism 300, and a sensing measurement unit 400 ), the adaptation mechanism unit 300 includes a first adaptation device module 310, a second adaptation device module 320, and a third adaptation device module 330, and each adaptation device module ( 310, 320, and 330 include a first elastic deformation member 340 and a second elastic deformation member 350.

As shown in FIGS. 3 and 7, the fixed frame 100 defines a fixed origin 110 of a fixed coordinate system of three axes of X-Y-Z. Usually, the fixed frame 100 is installed at the end of the working robot R, that is, installed on the wrist of the working robot R, as shown in FIG. 9, where the working coordinate system is formed on the wrist of the working robot R It is recommended that the positions of the fixed coordinate systems 110 are matched. This is to simplify the operation by dividing the force and moment acting on each axis while facilitating the measurement of the position change of the moving frame 200.

3, 7 and 8, the moving frame 200 is spaced upward from the fixed frame 100 and is movably installed based on a fixed coordinate system of the fixed frame 100, and has three axes of xyz The moving origin 210 of the moving coordinate system is defined. The moving coordinate system of the moving frame 200 is a coordinate system expressed based on the fixed coordinate system of the fixed frame 100. That is, since the work tool T is installed in the moving frame 200 as shown in FIG. 9 to perform processing or assembly work, the amount of change in the position of the moving origin 210 of the moving coordinate system with the work tool T The contact force generated between the work pieces is generated.

Therefore, in order to define the criteria for the movement of the moving origin 210 of the moving coordinate system, the fixed coordinate system of the fixed frame 100 must be defined, and at this time, the position of the fixed coordinate system is located on the wrist portion of the working robot R. Once formed, it is possible to check the position movement of the moving origin 210 of the moving coordinate system based on the working robot R, thereby facilitating control.

Adaptation mechanism 300 is installed between the fixed frame 100 and the moving frame 200 to support the moving frame 200 with respect to the fixed frame 100, as shown in Figure 3, the fixed frame When an external force acts on the moving origin 210 of the moving frame 200 based on the fixed coordinate system of (100), it is elastically deformed.

Specifically, as shown in FIG. 3, the adaptation mechanism unit 300 has three first support deformation modules installed diagonally at intervals of 120 degrees between the fixed frame 100 and the moving frame 200, respectively. 310), including a second support deformation module 320 and a third support deformation module 330, each of the first to third support deformation modules (310, 320, 330) as shown in Figures 4 and 5 Likewise, the first elastic deformable member 340 and the second elastic deformable member 350 each formed in a'b' shaped plate shape are installed in series with each other.

That is, in the adaptation mechanism part 300, three support deformation modules 310, 320 and 330 elastically support the moving frame 200 in parallel with respect to the fixed frame 100, and each support deformation module 310 ) 320 and 330 have a structure in which a pair of first elastic deformation members 340 and a second elastic deformation member 350 are connected in series. At this time, the reason why each of the first elastic deformation member 340 and the second elastic deformation member 350 is formed in a plate shape of a'b' shape composed of vertical and horizontal sides is any one of the vertical and horizontal sides. For fixing to the fixed frame 100 or the moving frame 200, the other side is elastically deformed to measure the amount of deformation. At this time, the elastically deformable side should be formed in a plate shape so as to measure the amount of deformation.

More specifically, as shown in FIGS. 4 and 5, the first elastic deformation member 340 has a length'b' that has a longer length of the first elastic piece 342 that is transverse than the first fixed piece 341 that is a longitudinal side. Shape, the first elastic piece 342 is parallel to the fixed frame 100, the starting end of the first fixed piece 341 is fixedly coupled to the moving frame 200. That is, the first fixing piece 341 becomes a fixing part of the first elastic deformation member 340, and the first elastic piece 342 becomes a deformation part for measuring the amount of deformation of the first elastic deformation member 340.

In addition, the second elastic deformation member 350 has a'b' shape with a longer length of the second elastic piece 352 that is transverse than that of the second fixed piece 351 that is the longitudinal side, and the second elastic piece 352 The starting end of the second fixing piece 351 is fixedly coupled to the fixing frame 100 so as to be perpendicular to the first elastic piece 342 of the first elastic deformation member 340. That is, the second fixing piece 351 becomes a fixing part of the second elastic deformation member 350, and the second elastic piece 352 becomes a deformation part measuring the deformation amount of the second elastic deformation member 350.

At this time, the first elastic deformation member 340 and the second elastic deformation member 350 are connected in series with each other, and the connection between each other requires a connection joint 360 capable of free rotation about three axes. That is, in order to connect the first elastic deformation member 340 and the second elastic deformation member 350 in series with each other, the end of the first elastic piece 342 of the first elastic deformation member 340 and the second elastic deformation The connecting joint 360 is needed between the ends of the second elastic piece 352 of the member 350.

As shown in FIG. 4, the connection joint 360 having the above-described condition has an effect similar to that of a universal or ball joint, as the ends of the first elastic piece 342 and the ends of the second elastic piece 352 are minutely metal-bonded. It can be combined to have. In addition, the connection joint 360 may be a ball joint as briefly illustrated in FIG. 5, and although a ball and a socket are not specifically illustrated, a ball-socket may be installed to form a ball joint. In addition, although not shown in the drawings, the connection joint 360 may be installed according to constraints through a universal joint or a hinge joint.

Each support deformation module 310 of the adaptation mechanism 300 from the movement change of the movement frame 200 with respect to the fixed frame 100 through the above-described fixed frame 100, the moving frame 200 and the adaptation mechanism 300 Three axes through the amount of deformation of the first elastic piece 342 of the first elastic deformation member 340 and the second elastic piece 352 of the second elastic deformation member 350 constituting the 320 and 330 It is possible to measure three forces and three moments for each direction, and this is done through the sensor 400.

As shown in FIGS. 4 and 5, the sensing and measuring unit 400 acts on the basis of the fixed origin 111 of the fixed frame 100 by an external force acting on the moving origin 211 of the movable frame 200. When the moving origin 211 of the frame 200 moves, the elastic deformation amount is sensed from the acclimatization unit 300 and acts on the moving origin 211 of the moving frame 200 based on the fixed coordinate system 110. Measure 3 forces for each of the 3 axes and 2 moments of the X and Y axes as the center of rotation.

At this time, the sensing measurement unit 400 detects the amount of deformation of the conforming mechanism unit 300 as shown in FIG. 6, and acts on the moving origin 210 of the moving frame 200 based on the fixed coordinate system. The three forces in each direction and the three moments in each direction of the three axes are measured. To this end, the sensing measurement unit 400 includes a plurality of strain gauges 410 and microcomputers 420.

That is, the strain gauge 410 is attached to one surface of at least one of the upper and lower surfaces of the first elastic piece 342 and the second elastic piece 352, respectively, and the first elastic piece 342 and the second The elastic piece 352 detects the deformation amount of each, and the micom 420 receives the respective signals of the strain gauge 410, and the moving frame 200 based on the fixed coordinate system from each strain amount of the strain gauge 410. F _x for the X-axis direction, F _y for the Y-axis direction, and F _z for the Z-axis direction acting on the moving origin 210 of M ₎ , and M _x , which makes the X-axis direction the center of rotation. Calculate the three moments of M _y with the Y-axis direction as the rotation center and M _z with the Z-axis direction as the rotation center.

The reason for using the strain gauge 410 is that it has a high sensitivity among sensors for measuring the amount of elastic deformation, and the cost is low. Therefore, if the strain gauge 410 is used, the manufacturing cost of the device can be reduced. The strain gauge 410 constitutes a Wheatstone bridge circuit, and is connected to the micom 420 through a wire to send a signal. The Wheatstone bridge circuit has a different equation for obtaining the amount of elastic deformation depending on the connection method, and the strain gauge 410 of the present invention may be configured as a bending type full bridge circuit.

In addition, the micom 420 may include a memory unit (not shown) for storing data on the amount of elastic deformation transmitted in real time from the strain gauge 410 to the micom 420, and the strain gauge 410 may It amplifies the signal, processes the amplified signal, and converts it to the user with each force and moment value.

On the other hand, as shown in Figures 3, 7, and 8, the fixed frame 100 and the moving frame 200 are installed horizontally in parallel with each other. By installing the fixed frame 100 and the moving frame 200 in parallel with each other, the equation is simplified by making the force control direction and the position control direction applied to the moving origin 210 of the moving frame 200 perpendicular to each other, There is a feature that makes it easier to control the force.

On the other hand, as shown in Figures 7 and 8, the fixed frame 100 is manufactured in a cylindrical shape with a lower portion closed, and the moving frame 200 is a disc having a diameter smaller than the inner diameter of the fixed frame 200. The shape can be installed to be flowable on the open top of the fixed frame (100). This structure originates from a simple and compact structure of the conforming mechanism part 300 of the present invention, and the overall shape is manufactured in a flat disk shape, which is an advantage of easily inserting and installing any part of the working robot R. .

That is, as shown in FIG. 9, the adaptive device of the present invention may be installed at the rear of the working tool T, which is the end of the working robot R, and the size of the work tool T may be further reduced, such as a joint part or a humanoid robot. There is an effect that can be installed on the joints, such as the legs and arms, as well as the micro-parts.

As described above, the acclimatization device having a six-axis force/moment measurement function according to the present invention has a fixed frame 100 and a moving frame 200 and an acclimatization mechanism part 300, and the configuration of the acclimatization part 300 is provided. Consists of three diagonalized modules (310, 320, 330), and each module is in the form of a'b' shaped first elastic deformable member 340 and second elastic deformable member 350 in series The new structure of the furnace connection installation dramatically simplifies the conforming mechanism unit 300, thereby reducing manufacturing costs while having a more suitable effect for precision and miniaturization.

In addition, since the first elastic piece 342 of the first elastic deformation member 340 and the second elastic piece 352 of the second elastic deformation member 350 have mutually perpendicular structures, three forces in the three-axis direction are provided. And three moments can be measured through the strain gauge 410 attached to the first elastic piece 342 and the second elastic piece 352, and can be used in various working environments by being robust against foreign matter flowing from the outside. There is.

In addition, by installing the fixed frame 100 and the moving frame 200 in parallel with each other, the force control direction and the position control direction applied to the moving origin 210 of the moving frame 200 are perpendicular to each other, thereby simplifying force control. There are features that can be easily done.

In addition, the fixed frame 100 is formed in a cylindrical shape, and the movable frame 200 is fluidly coupled to the open upper part of the fixed frame 100 to facilitate the arm, wrist, or any part of the working robot R It is possible to insert and install, and there is an effect of conveniently installing a work tool (T) in the moving frame (200).

The embodiments of the present invention described above and illustrated in the drawings should not be construed as limiting the technical spirit of the present invention. The scope of protection of the present invention is limited only by the items described in the claims, and a person having ordinary knowledge in the technical field of the present invention can improve and modify the technical spirit of the present invention in various forms. Therefore, such improvements and modifications will fall within the protection scope of the present invention as long as it is apparent to those skilled in the art.

T: Work tool
R: Working robot
100: fixed frame 110: fixed origin
200: moving frame 210: moving origin
300: acclimatization unit 310: first adaptation device module
320: second adaptive device module 330: third adaptive device module
340: first elastic deformation member
341: first fixed piece 342: first elastic piece
350: second elastic deformation member
351: second fixed piece 352: second elastic piece
360: Connection joint
400: detection measurement unit
410: strain gauge 420: mycom

Claims (6)

A fixed frame in which a fixed origin of a three-axis fixed coordinate system of XYZ is defined, and a movable frame spaced apart from the fixed frame and installed to be movable based on the fixed coordinate system of the fixed frame, It is installed between the moving frame in which the moving origin is defined and the fixed frame and the moving frame to support the moving frame with respect to the fixed frame, and an external force acts on the moving origin of the moving frame based on the fixed coordinate system of the fixed frame. Three force and three directions for each of the three axes acting on the moving origin of the moving frame based on the fixed coordinate system by detecting the amount of deformation of the adaptive mechanism part elastically deforming when the position moves, and the adaptive mechanism part It includes a sensing unit for measuring the three moments with the rotation center,
The compliance mechanism unit,
Between the fixed frame and the moving frame, each of three first support deformation module, the second support deformation module and the third support deformation module installed diagonally at an interval of 120 degrees,
Each of the first support deformation module, the second support deformation module, and the third support deformation module,
Adaptation device having a 6-axis force/moment measurement function, characterized in that the first elastic deformation member and the second elastic deformation member each formed in a'b' shaped plate shape are connected in series with each other.
According to claim 1,
The first elastic deformation member,
The length of the first elastic piece having a longer horizontal side than the first fixed piece is a'b' shape, and the start end of the first fixed piece is fixedly coupled to the moving frame so that the first elastic piece is parallel to the fixed frame, ,
The second elastic deformation member,
The length of the second elastic piece having a longer horizontal side than the second fixed piece has a'b' shape, and the starting end of the second fixed piece is such that the second elastic piece is perpendicular to the first elastic flat of the first elastic deformation member. Is fixedly coupled to the fixed frame,
Each of the first support deformation module, the second support deformation module, and the third support deformation module,
Adaptation device having a six-axis force / moment measurement function, characterized in that it further comprises a connecting joint for connecting the first elastic piece end of the first elastic deformation member and the second elastic piece end of the second elastic deformation member, respectively.
According to claim 2,
The connection joint,
Adaptation device with 6-axis force/moment measurement, characterized in that it is a ball joint.
According to claim 3,
The detection measurement unit,
A plurality of strain gauges respectively attached to at least one of the upper and lower surfaces of the first elastic piece and the second elastic piece to detect deformation amounts of the first elastic piece and the second elastic piece,
F _X for the X-axis direction, F _Y for the Y-axis direction, and the Z-axis direction for the X-axis direction acting on the moving origin of the moving frame based on the fixed coordinate system from the strain amount of each of the strain gauges. Calculate the three forces of F _{Z for} each and the three moments of M _X with rotational center in the _X- axis direction, M _Y with rotational center in the _Y- axis, and M _Z with rotational center in the Z-axis direction. Adaptation device with a 6-axis force / moment measurement function, characterized in that it comprises a microcomputer.
According to claim 2,
The fixed frame and the moving frame is a compliant device having a six-axis force / moment measurement function, characterized in that installed horizontally in parallel with each other.
The method of claim 5,
The fixed frame,
The lower part is a closed cylindrical shape,
The moving frame,
Adaptation device having a six-axis force / moment measurement function, characterized in that it is installed in a circular shape having a diameter smaller than the inner diameter of the fixed frame to be fluidly installed on the open upper portion of the fixed frame.

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