Patent ID: 7360456

Claim:
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.