中文摘要：

具有三维力检测功能的柔性触觉传感器是机器人的关键技术之一。以力敏导电橡胶为敏感材料，设计了一种柔性三维力传感器，介绍了三维力传感器的结构和数学模型。利用有限元分析软件（ANSYS），结合橡胶材料的Mooney—Rivlin本构模型对传感器模型进行加载力分析，以验证传感器的理论模型。通过提取和分析传感器模型在三维力作用下的应力应变信息，并结合三维力传感器加载试验结果，验证了传感器三维力数学模型的正确性。实验表明，传感器在Ｚ向力5N，X，Y向剪切力3．5N的量程范围内，实验和仿真结果均符合理论模型。

英文摘要：

Three-dimension force tactile sensor is an important technology in intelligent robot. Based on flexible pressure-sensitive conductive rubber, a three-dimension force tactile sensor cell was designed, the structure of three-dimension force tactile sensor and the mathematical models of calculating three dimension forces was introduced. To validate the theoretical model of sensor, finite element analysis software（ANSYS） was used to analyze the cell structure of tactile sensor under a loading force based on the Mooney-Rivlin theory of rubber. The strain and stress information of the sensor under the action of three-dimension force was obtained. By use of three dimension force experimental results, the validity of the three-dimension force tactile sensor was verified. The experiments proved the results of simulation and experiment was accorded with theoretical analysis in the measurement range of up to 5 N in Z-axis, 3.5 N in X, Y-axis.