Based on the bionics principle, this paper proposed the idea of bionic design of the spherical parallel shoulder joint integrated with the six-component force sensor. The static analysis of the 3-RRS mechanism, which can be taken as a prototype mechanism of shoulder joint of humanoid robot, was carried out. And the relationship figures between the forces and torques acted on each component and the pose of the mechanism were obtained. The measurement of the external load and driving torques, which was employed to judge operability of arm to the target object under arbitrary pose, was realized by introducing resistance measurement method in the mechanism. The bionic integration of the shoulder joint with six-component force sensor made arm has some functions such as to avoid overload and singular area voluntarily, and realize self-protection. The contents of this paper lay a foundation of compliant control of humanoid robot arm and have important significance and value in engineering.