Development of a multistage six-axis force sensor with a high dynamic range

This study proposes a high dynamic range measurement method for a six-axis force sensor. The sensor used in this method is composed of high-rigidity and low-rigidity flexure elements. The low-rigidity flexure element is combined with an overload protection mechanism to prevent an overload in the measurement range of the high-rigidity flexure element. A high dynamic range measurement is achieved by switching the output of the two flexure elements such that the low-rigidity flexure element measures a small force and the high-rigidity flexure element measures a large force. A loading test for the designed sensor is performed, and the results indicate that it is possible to use an overload protection mechanism to prevent an overload with respect to the low-rigidity flexure element. Furthermore, the findings confirm that the sensor measures force with a high dynamic range.