目的 为了满足生产中分拣软塑料食品罐的需求，提出一种柔性并联机构手指的机械手。方法 以机械手静止负载时和悬停负载时抓取力之差最小为优化目标，运用Matlab软件中的fsolve函数和for循环语句求出机械手优化参数的解。结果 以质量不超过0.25 kg的塑料食品罐为抓取对象，计算得出机械手静止负载和悬停负载时抓取力之差不超1 N。结论 在不损坏物体表面的前提下，可以实现对目标抓取物的稳定抓取。

The work aims to propose a kind of compliant manipulator with parallel mechanism fingers to meet the need of sorting the soft plastic food cans during production. With the minimum difference between the grasping forces of the manipulator under static load and hovering load as the optimal target, the optimal parameters of the manipulator were solved by the fsolve function and for loop statement of matlab software. With the plastic food can (no more than 0.25 kg) as the grasped object, the difference between the grasping forces of the manipulator under static load and hovering load was calculated and no more than 1 N. The manipulator can stably grasp the target without damaging its surface.