Abstract: A parallel pre-stressed six-axis force sensor with double-layer structure is proposed,and the structure character and advantages of the sensor are introduced.The dynamic force response of the six-axis force sensor is analyzed based on multi-degree-of-freedom system vibration mechanics.First,static force analysis on the sensor is performed considering the structure character.The vibration mechanics model of sensor system is built,and the motion differential equation of the vibration system is deduced.Then,the generalized coordinates response and the measuring limbs' force response are obtained by solving the motion differential equation when the system is subjected to dynamic force.Further,the numerical example and simulation result are presented,which demonstrate the correctness and feasibility of the theoretical analysis.