Abstract：The composition of the six-axis force/torque(F/T) sensors static calibration system is introduced. The error sources of the system are analyzed, and the comprehensive error model of the system is built. At the end, the measures to reduce error and improve accuracy are put forward. The results show that, the calibration systems errors mainly stem from direction deviation of loading force, and the higher precision orientation calibration devices should be used to diminish loading errors.In addition, the comprehensive error model of the system demonstrates that the full-scale error of the MZ channel is 2.48%, and the other channels are below 2%.
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2019, Vol. 40 
