Six-dimensional force sensor

The invention relates to a six-dimensional force sensor which comprises a sensor elastomer and resistance strain gages, wherein the sensor elastomer comprises a cylindrical shell and a crossed elastic beam; the crossed elastic beam is positioned in the center in the shell and comprises a strain beam (1) and a loading platform (3); an upper base (6) and a lower base (10) are respectively positioned at both ends of the shell; force transmission columns (7) are positioned in the middle of the shell and connected with an upper elastic beam (4) and a lower elastic beam (8); a flexible beam (2) is positioned between the force transmission columns, and the inner side of the flexible beam (2) is connected with the strain beam. A sensor force sensing element comprises the upper elastic beam, the lower elastic beam and the strain beam, and 28 resistance strain gages are attached to the proper position on the force sensing element, wherein 24 strain gages form six groups of full-bridge detectingcircuits for realizing th