Parallel-type five-dimensional force sensor

Provided is a parallel-type five-dimensional force sensor, which mainly comprises a bearing platform, a fixation circular table, a rigid connecting rod A, a rigid connecting rod B, a rigid connecting rod C, a rigid connecting rod D, a transverse cantilever beam A, a transverse cantilever beam B, a transverse cantilever beam C, a transverse cantilever beam D, elastic connecting rods, a longitudinal cantilever beam A, a longitudinal cantilever beam B, a cross beam, a rigid beam A, a rigid beam B, a regular octagon support plate and a strain gauge. Through the arrangement of the vertically-arranged elastic connecting rods and the transversely-arranged cross beam, structural decoupling of the sensor is realized, measurement of the forces in the x, y and z directions and torques around the x and y directions can be realized conveniently; when some branch of the sensor has fault or error, the fault branch can be rejected through detection, diagnosis and identification capability of software, and measurement of forc