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建立一种机器人腕力传感器弹性体的静、动特性的有限元计算模型，分析传感器弹性体在各种工况下的应力分布规律以及固有振动的频率和振型，为改进传感器的弹性体的设计，进行传感器结构的优化设计进行前期的准备。
A finite element model of the static and dynamic characteristics of a robot wrist force sensor elastic body is established. The stress distribution law of the sensor elastic body and the natural vibration frequency and vibration mode are analyzed. In order to improve the design of the sensor elastic body, , The optimal design of the sensor structure for the preparation of the early.