The invention relates to a two-finger clamper, which is formed by a mechanical body, a driving device, a transmission device and a driving unit. Wherein, the driving device, transmission device and driving unit are mounted on the finger base of mechanical body; said mechanical body comprises a finger base, a left-and-right slide element, and a left-and-right finger element; said driving device is formed by a motor and a code disc; said transmission device is formed by a large gear wheel, a small gear wheel and a leading screw; and said driving unit is formed by a sensor, a single chip and a driving circuit. The invention uses single chip to send control signal to the driving circuit to control the clamper; at the same time, the signals of sensors at different parts of clamper via the driving plate are transmitted to the single chip, to be checked and realize loop-closed control; the mechanical body is powered by motor, to rotate leading screw after being reduced speed via gear wheel, therefore, the left-and-right finger element can be translated; and the clamper can be opened and closed.