机器人夹钳是确保软性易变形微小物体可靠稳定夹持与操作的关键；为了实现较大范围旋转姿态调整，提出并设计了一种电磁驱动的二自由度混联柔顺夹钳。首先采用卡氏第二定理，对夹钳输入刚度、转动耦合、位移放大比以及夹持力进行了理论建模；然后，通过提出的分阶段柔顺夹钳的优化方法确定了微夹钳的材料与设计结构参数，建立了单目标优化数学模型，并通过有限元静力分析方法验证了优化后微夹钳的驱动力、夹持行程与夹持力均达到设计要求；最后，通过搭建的实验平台对柔顺夹钳的性能进行了实验验证。结果表明：所设计的柔顺夹钳转动范围与精度均符合预期值、能够对柔性锂电池塑壳实现稳定夹持。

Robot grippers play a key role in the reliable grasp and manipulation of easy-deformable micro objects. In order to realize gripper attitude adjusting at a large extent, this study designed a kind of hybrid compliant gripper based on electromagnetic drive. Firstly, the input stiffness, rotation couplings, displacement amplification and gri-pper force of the compliant gripper were modelled based on Catiglianos second theorem. Then the material and design structural parameters were defined through the proposed optimization method of staged compliant clamp me-thod, and a single optimal objective mathematical model was built. Based finite element analysis, the designed results were verified in the field of driving force, grasping range, and grasping force, which all reach the design requirements. Finally, the performance of compliant clamps was testified on the established experiment platform. The experimental results indicate that rotation range and precision of the designed gripper fit in with expectation, and can undertake the stable grasping task for flexible lithium-battery plastic shell.