The invention discloses a wide-range grabbing under-actuated multi-adaptive manipulator. The wide-range grabbing under-actuated multi-adaptive manipulator comprises a support frame and a single-finger mechanism; the single-finger mechanism includes a cylinder base, a cylinder, a front knuckle, a middle knuckle, a terminal knuckle, a first connecting rod, a second connecting rod, a V-shaped connecting rod and a third connecting rod; when the cylinder drives and pushes joints to move forwards, the second connecting rod is used for urging the V-shaped connecting rod to overturn forwards, and the third connecting rod is used for applying thrust to the front knuckle to enable the single-finger mechanism to locate in a folding state; and when the cylinder drives and pushes the joints to move backwards, the second connecting rod is used for urging the V-shaped connecting rod to overturn backwards, and the third connecting rod is used for applying tension to the front knuckle to enable the single-finger mechanism to locate in an opening state. The wide-range grabbing under-actuated multi-adaptive manipulator can realize wide-range grabbing, and has such beneficial effects as simple structure, good reliability, easiness in popularization and application and convenience for maintenance and replacement.