This study proposes a parallel six-axis force/torque sensor decoupling method based on an independent component analysis (ICA), and the experimental platform is built for experimental exploration. First of all, the structural model and mathematical model of the parallel six-axis force/torque sensor are introduced, which is composed of single-dimensional force sensors with central symmetry. Secondly, the test prototype was developed and a test platform was built to perform online static loading test on the sensor, and the test results were analyzed. Finally, the ICA-based dynamic decoupling study of the sensor is carried out, the effectiveness and rationality of the proposed algorithm are proved. The research results of this paper have certain reference values for the further study of the decoupling of parallel six-axis force/torque sensors.

中文翻译：

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基于独立分量分析的并联六轴力/扭矩传感器解耦研究

该研究提出了一种基于独立分量分析（ICA）的平行六轴力/转矩传感器解耦方法，并为实验探索搭建了实验平台。首先，介绍了由中心对称的一维力传感器组成的并联六轴力/力矩传感器的结构模型和数学模型。其次，开发了测试样机，搭建了测试平台对传感器进行在线静态载荷测试，并对测试结果进行了分析。最后，进行了基于ICA的传感器动态去耦研究，证明了该算法的有效性和合理性。本文的研究结果对进一步研究并联六轴力/力矩传感器的解耦具有一定的参考价值。