Robot multidimensional force sensor is useful to intelligent robot posture ,movement and precise control of environmental perception.This requires force sensor to own many advantages,s uch as high sensitivity in each axis,good static and dynamic characteristics.A robot multidimensional for ce sensor based on the fiber Bragg grating (FBG) is introduced in this paper,and the static,modal and dynamic sim ulations of its elastic body are obtained by finite element software ANSYS.Then we obtain the distributions of stress and strain of elastic body under different forces and torques in each direction,and determine the optimum attach in g position of fiber Bragg grating (FBG).On the basis of simulation,the mechanical structure of the sensor is des igned and manufactured,FBG is laid,and measurement system is built up in the lab.In the pressure and torque ex periment machine,we conduct a series of tests.At the same time,dynamic impact experiment of the sensor is conducted for simulating robot wrist subjected to impact force phenomenon.The experimental results show that th e sensor has good linearity and repeatability,and its sensitivity can be up to 0.0001nm/N.In ad dition,the sensor also has simple structure,high stability and low cost,and it is free from electromagnetic interference.