在文献［１］的基础上，应用正交试验设计，本文对多轴腕力传感器弹性体的静、动特性进行数值分析，全面分析结构主要参数对传感器静、动特性的影响。获得了对提高该类传感器的性能有重要参考价值的结果 Based on the literature [1], the orthogonal experiment design is used. The static and dynamic characteristics of the multi-axis wrist force sensor elastomers are analyzed numerically. The influences of the main parameters of the structure on the static and dynamic characteristics of the sensor are comprehensively analyzed. Obtained the result that has the important reference value to improve the performance of this kind of sensor