Spherical bionic six-axis force sensor

The invention discloses a spherical bionic six-axis force sensor. The spherical bionic six-axis force sensor comprises an inner sphere, an outer sphere, a signal conditioning circuit, and six Y beams;the outer sphere is hallow; the inner sphere is arranged inside the outer sphere, and is concentric with the outer sphere; bottom ends of the Y axes are fixedly connected with the inner sphere; two top ends of the Y axes are in close contact with an inner wall of the outer sphere; two strain gauges are arranged at the bottoms of the Y axes, and are symmetrical to each other relative to the Y axes; the inner sphere is fixedly connected with one end of a connecting rod; the signal conditioning circuit is located inside the outer sphere, and is fixedly connected on the connecting rod; and the strain gauges on the six Y axes are in electric connection with the signal conditioning circuit, respectively. The spherical bionic six-axis force sensor disclosed by the invention realizes manual detection on of joint stress.