Rigidity-variable soft gripper based on dielectric fluid driving

The invention discloses a variable stiffness soft gripper based on dielectric fluid driving. Comprising a plurality of finger bodies, finger drivers and a connecting platform, the plurality of finger bodies are fixedly connected with the corresponding finger drivers to form a plurality of rigidity-variable fingers, and the finger drivers of the plurality of rigidity-variable fingers are connected through the connecting platform to form the rigidity-variable soft gripper. In the variable-stiffness finger, the dielectric fluid in the inner and outer layers of flow channels is driven by the electrode assembly to flow from the inner side to the outer side, the volumes of the inner and outer cavities are changed, and then the finger is bent and deformed and can be used for clamping an object. The pumping effect of the dielectric fluid driver can be controlled by adjusting the magnitude of voltage applied to the deformation layer positive electrode wire and the variable stiffness layer positive electrode wire, the