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A six-axis force sensor with parallel 8/4-4structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor, the relationship between the force and moment isotropy and some structural parameters is deduced.Orthogonal test methods are used to determine the degree of primary and secondary factors that have significant effect on sensor characteristics.Furthermore, the relationship between each performance index and the structural parameters of the sensor is analyzed by the method of the atlas, which lays a foundation for structural optimization design of the force sensor.