Principle Research on a Novel Piezoelectric 12-DOF Force/Acceleration Sensor

Table 10

Third-time decoupling analysis results of the 6-axis force sensing module under composite loads.

Load category	Input value	Output of first-time decoupling	Output of third-time decoupling	Relative error
Fx	100 N	77.528 N	100.296 N	0.2962%
Fy	100 N	92.630 N	100.096 N	0.0964%
Fz	100 N	88.111 N	99.728 N	−0.2718%
Mx	10 N·m	9.914 N·m	10.006 N·m	0.0585%
My	10 N·m	10.091 N·m	9.987 N·m	−0.1258%
Mz	10 N·m	9.936 N·m	10.000 N·m	0.0036%