The inner core is densest: not only is it made out of the densest components (iron & nickel plus small amounts of gold, platinum, tungsten, rhodium &c), but it is under the greatest compression owing to the overlying layers. read more
It is the crust and the upper mantle. The Asthenosphere is known as the"weak sphere" and it is under the Lithosphere which has more density from the pressure. The Mesosphere is the middle sphere. It is the stronger lower mantle. It is under the Asthenosphere and the Lithosphere. It has even more density. read more