Disk type underactuation anti-locking tight holding mechanism

A disk type underactuation anti-locking tight holding mechanism comprises a paw, an outer ring rotating disk, a base, an outer ring transmission gear and an outer ring transmission motor. The outer ring transmission motor works, and the outer ring transmission gear is driven to rotate; the outer ring transmission gear rotates and drives the outer ring rotating disk to rotate, and the outer ring rotating disk rotates and is connected with the base through a bearing; the outer ring rotating disk rotates, and the paw is enabled to open or close; during closing, the outer wall of a to-be-clamped target object can be clamped; a spring plunger is arranged on the inner side of each arc-shaped clamping portion of the paw, and a guiding role is played during being close to the to-be-clamped targetobject, so that the arc-shaped clamping portions and the to-be-clamped target object are in accurate butt joint; a target object position detection sensor can detect whether the to-be-clamped target object enters a range in w