Multifunctional grabbing robot based on Mecanum wheels

The invention discloses a multifunctional grabbing robot based on Mecanum wheels. Two reconfigurable opening and closing mechanisms which are mirror images of each other are symmetrically mounted on a base and can rotate horizontally; the two finger centering mechanisms which are in mirror image with each other are installed on the base and the reconfigurable opening and closing mechanism. The two Mecanum wheel moving finger mechanisms are in mirror image with each other and are fixedly connected to a rotating structure, capable of rotating around a shaft, of the reconfigurable opening and closing mechanism respectively; the under-actuated fixed finger mechanism is rotationally connected with the base, and the distance between the under-actuated fixed finger mechanism and the base can be adjusted; the Mecanum wheel moving finger mechanism comprises two knuckles, a left-rotating Mecanum wheel is installed on the first knuckle, a right-rotating Mecanum wheel is installed on the second knuckle, the first knuckle