Three-joint self-adaptive mechanical finger with linear parallel clamping function

The invention discloses a three-joint self-adaptive mechanical finger with a linear parallel clamping function, which is characterized by comprising: a base; a transmission mechanism; the near finger section is connected with the transmission mechanism; the middle finger section is connected with the near finger section through a first joint shaft; the far finger section is connected with the middle finger section through a second joint shaft; the transmission mechanism comprises a motor, a transmission gear, a transmission rack and a transmission gear shaft; the motor is fixedly connected with the base; the transmission rack is connected with the output end of the motor; the transmission gear is mounted on the transmission gear shaft; the transmission teeth are meshed with the transmission gear. According to the three-joint driving mechanical finger with the linear parallel clamping function and the self-adaptive enveloping grabbing function, the large grabbing range and the good enveloping performance are a