Multi-axis force sensing is of great significance for the intelligent industries. This paper proposes a kind of strain-gauge type six-axis force sensor which is capable of measuring shear force for ±300 N， normal force for ±600 N and torque for ±25 N·m. The sensor shows a spoke shape and contains four groups of specially designed strain beams that connect the central platform and the outer support. Each group of strain beams contains a pair of L-shape beams at the two sides and a flat beam at the middle. Such kind of combination can reduce the coupling largely. By selecting proper positions for the strain gauges and designing measuring bridges， we further theoretically eliminated the coupling. Static calibration indicat that the senor possesses a precision higher than 1‰ and a safety factor larger than 300%， with the nonlinearity smaller than 0.3% and the coupling less than 1%. Test results of its response to a pulse input also confirm that the sensor has good dynamic properties. Implementation of the sensor in a robotic also further demonstrated the excellence of the sensor. This six-axes sensor will greatly advance the multi-dimensional force testing technology and play a great role in accelerating the intelligentization of modern industries.