目的 针对轻工业、食品行业中被抓取对象物性多样、尺寸范围较大等问题，设计一种通用的欠驱动柔性机械手。方法 根据机械手需要满足的功能设计机械手结构，运用Matlab软件中的Fsolve函数求解机械手中指节、指尖节相对转角与笔形气缸压力的关系，并以此绘制机械手的工作空间图，建立机械手的简化抓取模型，并以500 mL的啤酒、160 mL的可乐为抓取目标进行机械手抓取计算。结果 机械手的尺寸自适应连续宽度范围为0～200 mm，在适应被抓物体尺寸大小的同时可以对机械手与物体间的接触力进行精确控制。结论 设计的机械手抓取范围较大，装有扭弹簧的串联双铰链结构使机械手无需传感器就可以实现对目标的可靠抓取。

The work aims to design a general underactuated flexible manipulator, with respect to the problem that the object to be grasped in the light industry and food industry has various physical properties and a large size range. The manipulator structure was designed according to the function that the manipulator needed to meet. The Fsolve function in Matlab software was used to solve the relationship between the relative rotation angle of the middle finger and fingertip of the manipulator and the pressure of the pen-shaped cylinder, based on which the workspace drawing of the manipulator was drawn. The simplified grab model of the manipulator was established, and the grab calculation of the manipulator was carried out with 500 mL beer and 160 mL cola as the grab targets. The size adaptive continuous width range of the manipulator was 0-200 mm, which could accurately control the contact force between the manipulator and the object while adapting to the size of the object to be grasped. The designed manipulator has a large grab range, and the series double hinge structure installed with torsion spring enables the manipulator to achieve reliable grabbing of the target without sensors.