| The work reported in this paper is supported by "design and research on multidimensional sensor of robot under the water" from the intelligent robot sensor technology node laboratory. Taking the most typical six-dimensional force sensor for example, this paper narrates the development of underwater robot and multidimensional force sensor, analyzes the problems of elastic body of multidimensional force sensor and presents solutions to the problems in the deep water. In the base of determining the structure of sensor, dynamical model of elastic body in actual working conditions is established and several structures of sensors (solid cylinder, closed crust, flexible closed structure) is paid great attention. Then the mechanical performance and distorting circumstances of various materials of these structures under the water 10, 6000 meters are calculated respectively. After integrative comparison of several typical sensors, flexible closed structure of sensors is determined. The stress distribution patterns for typical load cases of elastic body are analyzed in details with ANSYS. In the meantime, natural frequency and normal mode of elastic body are analyzed. After finishing above work, the optimization design of elastic body for the sensor has been carried out. Finally this paper has a preliminary analysis .of strain transfer system and introduces the reason of using strain sensors, basic working principles, main characteristics and stick techniques of strain gauge.
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