Under-actuated self-adaptive manipulator for grabbing rocks on surface of star

The under-actuated self-adaptive manipulator for grabbing the rocks on the surface of the star comprises a driving mechanism, a rack, driving rods and a paw mechanism, the driving end of the driving mechanism is located on the inner side of the rack and is fixedly provided with a driving block, and the multiple driving rods are hinged to the peripheral side of the driving block; one end of the driving rod, one end of the short-tail connecting rod and one end of the long-tail connecting rod are hinged to the first hinge shaft, and the other end of the short-tail connecting rod and one end of the near knuckle are hinged to the rack; the other end of the long tail connecting rod is hinged to a first corner of a triangular tail rod, a second corner of the triangular tail rod is hinged to one end of a tail hook connecting rod, a third corner of the triangular tail rod is hinged to a first corner of a middle knuckle, the second corner of the triangular tail rod is located on the side of the middle knuckle, and the