Connecting rod type under-actuated finger mechanism

The invention discloses a connecting rod type under-actuated finger mechanism, belongs to the technical field of anthropomorphic robots, and in particular relates to design of a robot finger mechanism. The connecting rod type under-actuated finger mechanism is characterized in that eight connecting rod under-actuated finger mechanisms comprising one moving pair and seven rotating pairs are adopted, so the fingers have large gripping force and simple structure, can be designed and manufactured fully according to the sizes of the human fingers, realize the control of a simple controller for controlling a driver to drive a plurality of finger joints, and can flexibly and adaptively grip objects with different sizes and shapes.