Large-range variable-rigidity soft-body gripper

The invention relates to a large-range variable-rigidity soft-body gripper. The large-range variable-rigidity soft-body gripper comprises flexible fingers, a fixed base, a driving air bag, a tendon rope, a first air pipe, a second air pipe and an air pump, wherein the flexible fingers are arranged at the front end of the fixed base; the driving air bag is fixedly connected to the rear end of the fixed base; the tendon rope is connected between the interiors of the flexible fingers and the driving air bag; the air pump is connected with the flexible fingers through the first air pipe; and the air pump is connected with the driving air bag through the second air pipe. The roots of the flexible fingers are fixed to the fixed base, the finger tip ends are free, variable-rigidity air bags, spherical particles and friction sheets are arranged in the finger tip ends, and rigidity adjustment can be realized; and the variable-rigidity air bags and the driving air bag can be expanded or contracted through the air pump,