目的 为了满足生产中抓取（如巧克力，饼干）分拣梯形礼品包装盒的需要，对柔性机械手结构进行优化设计。 方法 提出一种绳牵引驱动的单铰链柔性机械手， 适合抓取不同梯度与宽度的梯形礼品包装盒， 然后介绍机械手的驱动原理， 并对机械手指的相关参数进行优化。 结果 抓取最大最小包装盒的压力差为 1.0311 N， 通过全局优化， 得出了扭弹簧的刚度系数与预紧角和机械手的关节尺寸，最后通过计算得出了关节角位移和指尖开度随气压变化的曲线图 。 结论 该结构具有很好的柔顺性能，能够实现自适应抓取。

Objective To meet the requirements of grabbing and sorting of trapezoidal packaging boxes (such as chocolate, biscuit) in production. Methods This paper proposed a single-rope traction drive hinge flexible manipulator for grabbing trapezoidal gift boxes with different gradients and idths, and then introduced the driving principle of the robot mechanical fingers and optimized the related parameters. Results The calculation results showed that the pressure difference between grabbing the maximum and minimum packing box was 1.0311 N. Through global optimization, the torsional spring stiffness coefficient, the preloaded angle and the manipulator joints size were obtained. The curves of joint angular displacement and fingertips opening with the changing pressure were also attained. Conclusion The structure showed very good soft performance, and could achieve adaptive grasping.