High Dynamic Range Force Torque Sensor

A force-torque sensor concept with a high-dynamic range achieved by implementing a multiple flexure design. In this approach, the first smaller set of flexures is attached between the two sensor bodies while another larger flexure set is attached at one body and encapsulated/contained in the other. A gap in the encapsulation/containment allows for the first flexure to deflect freely under specific loads measuring six-axis force and torque before the other set is engaged. Once engaged, the second deflects providing support to the first flexure set and measures six-axis force and torque. This unique multiple flexure design allows for accurate measurement at low loads via the smaller flexure and at high loads via the combined stiffness and deflection measurements of both flexures. Loads are measured utilized stain gauges and method standard to current force-torque sensors adapted to this unique multiple flexure design. Funding shall be utilized to validate the multiple flexure force-torque concept and compare its dynamic range against standard single flexure designs. Prototypes shall be developed and tested to aid in validation and comparison. Target markets include mechanisms and robotics for lunar, cislunar, and earth orbit. Additional markets include terrestrial robotics and mechanisms.