为了满足包装生产线上分拣不同大小苹果的要求，设计了一种气动绳牵引的被动抓取的柔性机械手。在满足苹果抓取力的情况下，以抓取最大和最小苹果的力的差值最小为目标函数，采用Matlab软件的fmincon函数优化，得出了2个结构尺寸(a，δ)、扭弹簧的刚度(k)和预紧角(-10)及抓取最小苹果时机械手关节的角度(-2)，并给出了机械手的初始状态和气动控制方法。

A kind of cable-driven pneumatic flexible manipulator for apple passive grasp was designed to satisfy the requirements of packaging production lines in sorting different sizes of apples. The objective function was determined by the minimum change range of apple grasp strength. Matlab software fmincon function was applied to optimize the function. Two structure sizes a and δ, the stiffness of hydropneumatic twist spring k, preloaded angle -10, and the angle for grasping the smallest apples -2 were resolved. The initial state of manipulator and pneumatic control method was put forward.