In order to obtain the six-component force sensor with excellent comprehensive performance,a novel pre-stressed six-component force sensor based on Stewart platform was presented,and its position and orientation error was analyzed.Compared with the traditional Stewart platform-based six-component force sensor,the structure feature of proposed pre-stressed six-component force sensor was described.Then,the mathematical model of the position and orientation error was established using the influence coefficient method and vector method,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 were analyzed by plotting histograms of error sensitivity.Finally,a sensor prototype was fabricated and the calibration experimentation was carried out.The experimental results indicate that the force measurement precision of the prototype is within 1%,which shows the research is useful for the design and calibration experimentation of the six-component force sensor.