Switching type six-axis force-torque sensor and six-axis force-torque measuring apparatus using the same

A switching type six-axis force-torque sensor, comprising:

• a sensor substrate attached to a structural body to be measured;
• a first measuring unit installed at one side in respect to a substantially central portion of the sensor substrate and configured to measure strain;
• a second measuring unit installed on the sensor substrate at a position that faces the first measuring unit in respect to the substantially central portion and configured to measure strain;
• a third measuring unit installed at a position orthogonal to a connecting line, which connects the first measuring unit and the second measuring unit, and configured to measure strain;
• and
• a fourth measuring unit installed at a position that faces the third measuring unit in respect to the substantially central portion and configured to measure strain,
• wherein the first measuring unit, the second measuring unit, the third measuring unit, and the fourth measuring unit are radially disposed in respect to the substantially central portion, and a strain measuring unit that includes a plurality of piezoresistive pattern portions is provided,
• wherein the strain measuring unit includes:
• a first strain gauge installed on the sensor substrate, and connected with a first resistance detecting unit;
• a second strain gauge connected with the first strain gauge in a linear alignment in a same direction via a first signal line on the sensor substrate, and connected with a second resistance detecting unit;
• a third strain gauge connected to the first signal line via a branch line on the sensor substrate, and connected with a third resistance detecting unit;
• a fourth strain gauge connected with the third strain gauge in a linear alignment in a same direction via a second signal line, and connected with a fourth resistance detecting unit;
• the pair of the first and second strain gauges are aligned in parallel with the pair of the third and fourth strain gauges, respectively;
• and
• the first signal line and the second signal line are connected via the branch line.