目的 提出片弹簧骨架气动柔性手爪， 以苹果为对象对抓持全过程进行研究。方法 片弹簧大变形状态分析等效于悬臂梁， 利用微分方法和Matlab编程， 求解该大变形的非线性微分方程。结果 建立了驱动负载、 抓持负载下的力学模型， 求解出了手爪片弹簧大变形和稳定抓持时所需的气缸压强，为该柔性手爪的应用提供了依据。结论 该柔性手爪可以实现对目标抓持物的稳定抓持。

This study aimed to propose a kind of flexible pneumatic gripper with leaf spring skeleton and made analysis on the griping process with apples. The deformation of the leaf spring can be equivalent to the large deflection deformation of the elastic cantilever beam, and the differential method was used to solve the large deformation equation with help of MATLAB. Static model of the cantilever had been built both under driving load and grasping load. The deformation of the leaf spring and the required pressure were solved using a differential method. The flexible gripper can steadily grasp the objective and it will have a broad prospect in the fruit sorting field because of the strong self-adaptability.