十字梁腕力传感器广泛应用于机器人系统。腕力传感器的响应特性决定了传感器应变片的粘贴和传感器的标定方法 ,也影响机器人系统的动态特性。针对十字梁六维腕力传感器的结构特点 ,以Lagrange方程为基础 ,建立六维腕力传感器的动力学模型 ,研究腕力传感器在力 (力矩 )作用下的响应特性以及传感器参数对传感器响应的影响。 Cross beam wrist force sensor is widely used in robot systems. The response of the wrist force sensor determines the attachment of the sensor strain gauge and the calibration of the sensor, as well as the dynamics of the robot system. Aiming at the structural characteristics of cross-beam six-dimensional wrist force sensor, a dynamic model of six-dimensional wrist force sensor is established based on Lagrange equation. The response characteristics of wrist force sensor under force (moment) and the influence of sensor parameters on sensor response are studied.