In order to ensure uniform stress on the surface of friable structure while flexible loading, we use finite element method to simulate the load of hyperelastic material, analyzing and optimizing the uniformity of contact stress on the friable structure. According to the characteristics of hyperelastic cushion under pressure, a model for evaluating the uniformity of contact stress is established. Based on the analysis of simulation results of the basic model, two optimization models are proposed to reduce the friction factor and to change the cushion structure; Aiming at the results of finite element simulation, an experiment of flexible load is carried out to verify the validity of the finite element model. The results show that the finite element model can, too some extent, accurately describe the actual situation of robot loading on the friable structure, and the two optimization models can effectively improve the uniformity of the stress on the surface of the tile; Compared with the basic model, the equivalent coverage ratio of the optimized model with 20mm hole is 77.44%, which improves the uniformity by 15%. This result will provide a theoretical basis for the design and optimization of hyperelastic cushion in the future.