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.