Control method of rigid-flexible coupling gripper

The invention discloses a rigid-flexible coupling gripper control method, a rigid-flexible coupling gripper comprises a supporting unit, a rigid gripper unit, a flexible gripper unit, a motor driving unit and a first pneumatic driving unit, the rigid gripper unit comprises a sector gear and a rigid gripper, and the motor driving unit comprises a motor and an incomplete gear. The first pneumatic driving unit is connected to the flexible gripper unit; the control method comprises the steps that when an object to be grabbed needs to be rigidly grabbed, a motor is controlled to rotate to drive an incomplete gear to rotate to a first preset state, so that a rigid gripper can be driven by the motor to move through the incomplete gear and a sector gear; wherein in the first preset state, the incomplete gear and the sector gear are in an engaged state; and when the to-be-grabbed object needs to be flexibly grabbed, the first pneumatic driving unit is controlled to drive the flexible gripper unit to generate bending d