公开(公告)号：US20160252410A1

公开(公告)日：2016-09-01

申请号：US15032402

申请日：2014-11-04

Applicant: NSK LTD.

Inventor： Seiichi TESHIGAWARA ,  Kazuteru TOBITA ,  Masaki KUWAHARA

IPC: G01L1/00 ,  G01D5/12 ,  G01D5/30

CPC classification number: G01L1/005 ,  G01D5/12 ,  G01D5/30 ,  G01L1/2206 ,  G01L5/166

Abstract: A force sensor includes: a base; a first movable portion arranged to face the base; a second movable portion arranged to face the first movable portion; a support that is provided on the base and rockably supports the first movable portion and the second movable portion; a joint that is provided to the support and rotatably supports the second movable portion; and a first detection unit that can detect a force component causing the first movable portion and the second movable portion to rock and a second detection unit that can detect a force component causing the second movable portion to rotate, when external force is applied to at least one of the first movable portion and the second movable portion.

Abstract translation: 力传感器包括：基座; 布置成面向基座的第一可移动部分; 第二可移动部分，布置成面对第一可移动部分; 设置在基座上并支撑第一可移动部分和第二可移动部分的支撑件; 接头，其设置在所述支撑体上并可旋转地支撑所述第二可动部; 以及第一检测单元，其能够检测使所述第一可移动部分和所述第二可移动部分摇动的力分量;以及第二检测单元，当外力至少施加到所述第二检测单元时，所述第二检测单元能够检测导致所述第二可移动部分旋转的力分量 第一可移动部分和第二可移动部分中的一个。

公开(公告)号：US20230256592A1

公开(公告)日：2023-08-17

申请号：US18027296

申请日：2022-06-07

Applicant: NSK LTD.

Inventor： Haruaki CHIBA ,  Seiichi TESHIGAWARA

IPC: B25J9/10

CPC classification number: B25J9/1065

Abstract: A parallel link mechanism includes three or more link mechanisms that couple a fixed base and an end-effector base. The end-effector base has a facing surface facing the fixed base. The link mechanisms each include a proximal-end joint, a proximal link, an intermediate joint, a distal link, and a distal-end joint. The proximal-end joint is rotatably coupled to the fixed base. The proximal link is coupled to the proximal-end joint. The intermediate joint is provided to the proximal link. The distal link is rotatably coupled to the proximal link via the intermediate joint. The distal-end joint rotatably couples the distal link to the end-effector base. The point of intersection at which the extensions of the axes of rotation of the proximal-end joints, the extensions of the axes of rotation of the intermediate joints, and the extensions of the axes of rotation of the distal-end joints intersect is the center of rotation of the end-effector base. The center of rotation of the end-effector base is positioned in a first direction with respect to the facing surface.