Based on constrained screw type synthesis theory, a novel spacial over-constrained parallel six-component force/torque sensor mechanism which contains 12 SS branches was proposed. Then considering the branches flexible deformation, with the supplementary deformation coordination and physical constitutive constraint equations, structural balance equations were established respectively in six one-way measurement states. The stress and mode of the whole over-constrained parallel six-component force sensor structure scheme were analyzed with the Finite Element Method (FEM), and the analysis results were contrasted and conclused that theoretical calculations and Finite Element Analysis of conclusion were coincide.

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