In order to obtain the six-component force sensor with excellent comprehensive performance indices

this paper presents a novel pre-stressed six-component force sensor based on Stewart platform and performs its position and orientation error analysis. At first

compared with the traditional Stewart platform-based six-component force sensor

the structure feature of the pre-stressed six-component force sensor was described. Secondly

the mathematical model of the position and orientation error was built by using the influence coefficient method and vector method together. Then the position and orientation error sensitivity indices were defined and the influence conditions of different error factors on the sensor’s position and orientation error was analyzed by plotting histograms of error sensitivity. At last

the sensor prototype was developed and the calibration experimentation was carried out

and the experimentation results prove that the force measurement precision of the prototype is within 1%. The research contents of this paper are useful for the design and calibration experimentation of the six-component force sensor.