The invention discloses a
rope-driven reducing type multi-finger grabbing mechanism. The
rope-driven reducing type multi-finger grabbing mechanism comprises a reducing mechanism, a grabbing unit and a
servo control system, a connecting piece is arranged between the reducing mechanism and the grabbing unit; included angles are formed between the grabbing units; the reducing mechanism comprises a cross-shaped
crank, a transmission connecting rod and a cross-shaped fixing frame; a sliding rail and a first
servo motor are fixed to the cross-shaped fixing frame. A sliding block is arranged on the sliding rail; the grabbing unit comprises a
servo motor, a servo motor fixing piece and a multi-joint grabbing
actuator. A
winch is mounted on an output shaft of the servo motor, and a flexible
rope is wound on the
winch; the multi-joint grabbing
actuator comprises spherical hinge knuckles which are arranged in the length direction of the multi-joint grabbing
actuator and provided with through holes, and flexible fingertips located at the
tail end of the multi-joint grabbing actuator. A flexible fixing ring is arranged between every two adjacent knuckles; one end of the flexible rope penetrates through the through hole of the spherical hinge-shaped
knuckle to be connected with the flexible fingertip. The
robot grabbing mechanism is suitable for grabbing irregular objects, and the problem that the grabbing range of an existing
robot grabbing mechanism is difficult to flexibly adjust is solved.