Aiming at the problem of excessive deformation of parts in the process of grasping soft objects, a parallel two-finger grasping system based on two-dimensional force feedback was designed. NX software was used to design the parallel two-finger grasping system and conduct 3D modeling. The control system STM32 is used as the hardware control platform, and Keil5 software is used as the software control platform to realize the feedback of grasping force. A parallel two-finger grasping system prototype is developed. The grasping experiment of soft object was carried out. The experimental results show that when the grasping force is about 10 N, the target object can be grasped stably, and the deformation of the target object is small, which meets the grasping requirements.

针对抓握软物体时零件变形过大的问题，设计了一种基于二维力反馈的平行两指抓握系统。NX软件用于设计并行的两指抓取系统并进行3D建模。控制系统以STM32作为硬件控制平台，Keil5软件作为软件控制平台，实现抓力的反馈。开发了并行的两指抓取系统原型。进行了柔软物体的抓握实验。实验结果表明，当抓取力为10 N左右时，可以稳定地抓持目标物体，且目标物体的变形较小，符合抓握要求。