维间耦合是影响多维力/力矩传感器测量精度的一个主要因素。介绍了六维力/力矩传感器维间耦合的基本原理，在研究基于求解矩阵广义逆的静态解耦算法的基础上，提出了基于耦合误差建模的静态解耦算法。以实验室研制的六维力/力矩传感器为例进行标定实验，用两种解耦算法对其进行解耦计算。实验结果证明基于耦合误差建模的静态解耦算法的有效性。%Static coupling is one of the most important factors affecting the measuring accuracy of multi￣axis force/torque sensor. This paper introduces the principle of six￣axis force/torque sensor’s couple. The decoupling algorithm based on solving generalized inverse matrix is studied,and a new static decoupling algorithm based on coupling error modeling is proposed. The experimental results on the six￣axis force/torque sensor designed by the lab show that the novel algorithm is effective.
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