提出了一种新型过约束并联十二分支六维力传感器结构,基于螺旋理论建立了该新型过约束并联六维力传感器理想数学模型。在此基础上,考虑各分支结构弹性变形,针对垂向加载及水平加载两种典型工况,基于变形协调条件和静力平衡方程对该新型过约束超静定结构六维力传感器的受力情况进行了分析与仿真计算,绘制了数值算例下新型过约束并联六维力传感器各分支受力随外力变化的曲线图。 A new structure of six-dimensional six-dimensional force sensor with over-constrained parallel is proposed. Based on the spiral theory, an ideal mathematical model of the six-dimensional force sensor with over-constrained parallel is established. On this basis, considering the elastic deformation of each branch structure, according to the two typical conditions of vertical loading and horizontal loading, the force of this new type of over constrained statically indeterminate six-dimensional force sensor based on the deformation coordination and static balance equations The situation is analyzed and simulated, and the graphs of the force variation of each branch of the new over constrained six-dimensional force sensor with external force under the numerical example are plotted.