Under-actuation five-finger manipulator

The utility model relates to an under-actuation five-finger manipulator and belongs to the field of robots. A thumb, a forefinger, a middle finger, a ring finger and a little finger which are respectively driven by a finger side swing motor and a bending motor are respectively fixedly connected with a palm, wherein the thumb, the forefinger, the middle finger, the ring finger and the little finger are the same in structure; the functions of swinging laterally, bending and reversely extending of fingers are respectively realized under the driving of two motors; when the side wing motor is powered on and rotate backwards and reverse, the fingers can swing left and right, and a rotary shaft wound with a steel wire rope is driven by the bending motor, and the winding length of the steel wire rope on the rotary shaft is changed, so that the fingers can do bending and reverse extending motions. The under-actuation five-finger manipulator has the advantages of novel, simple and compact structure, small size, and rel