A new 6-axis wrist force sensor is designed in this paper.The finite element method for the crossbeam elastic body of the sensor is established to analyze the characteristics of structure static.The rationality of the mechanical structure is discussed,and the best pasting position of strain gages is determined.The force/moment signal of every dimension is translated into output voltage through reasonable bridge group.An amplifying circuit is designed to amplify the 6-axis signal,and the 6-axis wrist force sensor is calibrated through static calibration device.