Abstract: This paper proposes the stationary and dynamic united decoupling and compensating method, a mothod to tackle the three main problems involved in a multi-axis force sensor. The stationary decouple, dynamic decouple and dynamic compensation are combined into an integral whole. Three key technique problems of multi-axis force sensor are solved simultaneously, and the sensor's follow-up processing is simplified. The results of simulation have proven the correctness and effectiveness of this method.

Key words: multi-axis force sensor, stationary decouple, dynamic decouple, dynamic compensation