Dexterous three-finger hand of fruit picking robot

The invention discloses a dexterous three-finger hand of a fruit picking robot, and relates to the technical field of dexterous agriculture robot hands. The dexterous three-finger hand mainly comprises three modular fingers, a palm, a sensor module and a control module, wherein a rubber pad is arranged on each finger pulp (7) of the modular fingers; three mounting grooves (12) are uniformly distributed in the palm (11) along the circumference; base joint brackets (5) of the fingers are fixedly mounted inside the mounting grooves through screws; the sensor module comprises an ultrasonic sensor (14) and a pressure sensor (4) which are used for detecting signals about the distance between a fruit and the center of the palm and signals about the pressure of the fingers contacted with the fruit, respectively; the control module controls a motor to rotate positively and reversely according to the sensor signals, so as to realize flexible holding of the dexterous three-finger hand; and subsequently the palm turns together with the wrist to twist off the pedicel, then the fruit is picked. The dexterous three-finger hand disclosed by the invention has personate fingers, is flexible and convenient, flexible to operate, applicable to picking of various fruits, and good in university and adaptability.