从机器人螺钉柔性装配位姿调整策略的需要出发 ,简要介绍了机器人末端适从方式 ,提出了基于刚度矩阵的适从表达方案 ,设计并制作出具有良好适从特性的螺钉柔顺夹持器 ,实验结果表明 ,该夹持器所具有的较宽位姿适从范围为机器人螺钉柔性装配的实施打下了良好基础 In order to meet the need of flexible attitude adjustment of robotic screw, this paper briefly introduced the adaptive approach of robot tip, proposed an adaptive expression scheme based on stiffness matrix, and designed and produced a screw compliant gripper with good compliance characteristics. Experiment The results show that the wider posture possessed by the holder has a good foundation for the flexible assembly of the robot’s screw