A novel structure of hyperstatic parallel six-component force sensor based on the Stewart platform was proposed,and its theoretical dynamics analysis and finite element simulation were performed.The structure feature of the sensor was described in comparison with the classical Stewart platform-based six-component force sensor.By using the finite element method,the elastic dynamics theoretical model of the sensor was established based on the conditions of displacement consistency and force balance.According to this model,the numerical analysis was carried out,and the variety relationship curves between the natural frequencies and the structural parameters are plotted.By using a ANSYS software,the finite element model of the sensor was built to analyze the vibration modal of the sensor,and the natural frequencies and the vibration modes were obtained.The research results establish the foundation for the further dynamics analysis and synthesis of the sensor and the dynamic optimization design of the sensor.