Patent ID: 7779705

Claim:
An improved force and moment sensor ( 100 ), suitable for measuring forces and moments acting on a body ( 101 ), comprising a three-arm measuring structure ( 102 ) having ends connected to said body ( 101 ) each by means of a joint having a translating spherical hinge ( 10 ) comprising a spherical hinge with a sliding joint, characterized in that it comprises an elastic articulated plane ( 13 ), a support ( 16 ) to which the elastic articulated plane ( 13 ) is rigidly constrained, and an axial element ( 14 ), positioned according to an axis ( 11 ) orthogonal to the plane ( 13 ), wherein said elastic articulated plane ( 13 ) comprises a series of elastic elements ( 12 ) arranged with a first end facing and rigidly connected to the axial element ( 14 ), wherein said elastic elements ( 12 ) are flexible in any vertical plane comprising said axis ( 11 ) and in said horizontal plane ( 13 ) to allow four degrees of freedom or, respectively, the translation of said axial element ( 14 ) in the direction of the orthogonal axis ( 11 ) and the spatial rotation of said axial element ( 14 ), by means of flexure of said elastic elements ( 12 ) in any vertical plane comprising said axis ( 11 ), as well as the torsion of said axial element ( 14 ) around the axis ( 11 ), by means of flexure of said elastic elements ( 12 ) in said horizontal plane ( 13 ).