讨论了应变式传感器的原理和分类．针对测量处于重力场中的等截面均质杆件的长 度和质量，设计了一种新型的机器人指端应变式触觉传感器，详细说明了该传感器的测量 原理．同时；进行自由体平衡的分析，确定解决这个问题的物理量．在弹性薄板的边界条 件为一对边固定支撑，另一对边简单支撑的情况下，给出了弹性薄板的理论解公式．最后 进行了抓握实验研究；抓握实验结果说明这种传感器性能可靠，测量精度高． The principle and classification of strain sensors are discussed. In order to measure the length and mass of homogeneous cross-section bar in gravitational field, a novel robotic finger-tip-type tactile sensor is designed and the measuring principle of the sensor is described in detail. At the same time, conduct an analysis of the free-body balance and determine the physical quantities that will solve the problem. The theoretical solution of the elastic thin plate is given under the condition that the boundary condition of the elastic plate is a pair of side fixed supports and the other pair of sides is simply supported. Finally, the grasping experiment is carried out. The experimental results show that this kind of sensor has reliable performance and high measuring accuracy.