Rigid-flexible coupling bionic finger and clamping jaw

The invention belongs to the technical field of manipulators, and relates to a rigid-flexible coupling bionic finger and a clamping jaw. A rigid-flexible coupling bionic finger comprises a base, a first knuckle, a second knuckle and a third knuckle. The first knuckles are rotatably connected with the base through metacarpophalangeal joints; the first knuckles and the second knuckles are rotatably connected through the near-end fingertip joints; the second knuckle and the third knuckle are rotatably connected through the far-end fingertip joint; the first knuckles and the base are provided with first drivers, and the first drivers drive the first knuckles to rotate relative to the base. A driver II is arranged on the first knuckle and the third knuckle and drives the second knuckle and the third knuckle to rotate; and resetting mechanisms are arranged on the metacarpophalangeal joint, the near-end fingertip joint and the far-end fingertip joint. The invention provides a rigid-flexible coupling bionic finger. T