In order to improve the adaptability, stability, accuracy and controllability of flexible endeffectors of the robot, three kinds of humanoid flexible gripper scheme were designed and optimized by taking a cylinder object grasping as an example.Aimed at the deformation characteristics of the asymmetric hand gripper, the eccentricity of the grab object, the vertical deviation of the end displacement, the horizontal deviation of the end displacement, the curvature radius of the flexible finger and the minimum working pressure were proposed as evaluation indexes.Through single finger deformation characteristic test and multifinger gripper deformation characteristic test, the deformation law of hand gripper under different states was analyzed.The results show that the minimum working pressure can be effectively reduced by using biparting threefinger arrangement; when combined with the finger of different lengths, the grasping stability and accuracy under different pressures and loads are improved obviously, and the linearity of the curvature radius of the finger is improved.Generally, in the traditional flexible gripper scheme, the deformation of the gripper is nonlinear, and the increase of load will increase the working pressure required of the gripper; the humanoid grasping scheme with asymmetric arrangement has the best comprehensive performance. The results provide a reference for the structure optimization and precise control of robot flexible end-effectors.