介绍了三维腕力传感器维间耦合基本原理,并建立了耦合误差模型,阐述了传感器静态标定的基本方法。对传统的基于求解矩阵广义逆的静态解耦算法中容易产生病态矩阵,进而影响解耦稳定性和精度的问题进行了研究。提出了基于耦合误差建模的静态解耦算法。对十字梁型三维腕力传感器进行静态标定试验,使用2种解耦算法对标定数据进行分析。试验结果表明,基于耦合误差建模的静态解耦算法具有高可靠性和高解耦精度,且能够反应各维力之间的耦合关系。

To study the 3-axis force sensor static decoupling algorithm, the principle of 3-axis force sensor couple is presented and coupling error model is developed. Static calibration experiments of a 3-axis force sensor are described. The traditional algorithm based on solving inverse matrix always has a problem of generating ill-conditioned matrix, which may decrease stability and precision of decoupling. A static decoupling algorithm based on coupling error model is proposed. The results of experiments show that the novel algorithm has features of simplicity, high reliability and high precision. It also has the ability to reflect coupling relation among sensor dimensions.