Research and Error Analysis of Calibrating Experimental Bench for 6-Axis Wrist Force Sensor of Robot

A calibrating experimental bench for robot's 6-axis wrist force sensor is introduced. On the experimental bench, the method of loading the wrist force sensor in each dimension respectively is also introduced. The reasons which give birth to the bench's systematic errors are analyzed. The equations are deduced for calculating systematic errors which caused by bearing friction moment, friction force between crown block and rope, rope's deadweight, position error of action point, and error of action direction. In the direction of F_z, the compound systematic error is calculated. Methods for reducing the systematic errors are also put forward according to the equations for calculating systematic errors.