中文摘要：

基于力敏导电橡胶材料，设计了一种四电极对称结构的三维力柔性触觉传感器。利用有限元分析软件ANSYS，结合橡胶材料的Mooney—Rivlin本构模型，对传感器加载垂直力和剪切力进行有限元分析，得到传感器在三维力作用下的应力应变分布状态，并进行了实验验证，结果表明了传感器结构设计和数学模型构建的合理性。通过对传感器传力的触头材料和形状进行有限元分析，表明触头选择硬度相对较大的材料，制成长椭球状半径（a=1．5b），可以优化传感器的性能，为用于检测三维力的柔性触觉传感器的实际应用提供了依据。

英文摘要：

Based on flexible pressure-sensitive conductive rubber, a flexible tactile sensor with four-electrode symmetrical structure, which has three-dimensional force detection function, is designed. Combined finite element analysis software ANSYS with the Mooney-Rivlin theory of rubber, the strain and stress information of the flexible tactile sensor under the action of vertical force and shear stress is obtained through Finite element analysis. The rationality of the structure of three-dimension force tactile sensor and the mathematical models of calculating three dimension forces was verified by experiment. By using finite element analysis on the materials properties and geometric configuration of force transmission hemisphere, the research indicates that the harder materials and the prolate ellipsoid shape （radius a = 1.5b） can optimize the characteristic of the sensor. It provides the basis for the practical application of the flexible tactile sensor for the detection of three-dimensional force.