Under-actuated manipulator capable of being quickly disassembled and assembled

The under-actuated manipulator capable of being quickly disassembled and assembled comprises a driving mechanism and a plurality of stacked finger modules, the driving mechanism provides driving force for the manipulator, and the driving mechanism comprises a connecting sliding block; the uppermost finger module is connected with the capping module, the lowermost finger module is connected with the sliding block, the finger modules comprise the upper joint module and the lower joint module, the upper joint module and the lower joint module are rotatably connected, and the plastic rope penetrates through the upper joint module and the lower joint module. According to the under-actuated manipulator capable of being quickly disassembled and assembled, a rope driving mode is adopted, and the size and the weight of the manipulator body are effectively reduced while enough driving force is provided; according to the under-actuated manipulator capable of being rapidly disassembled and assembled, a modular structure