【正文】 uded studies focus on the development of the theme, the greatly development, gripper study also entered a good period of development.A gripper research Gripper application environment vary widely, crawl, reliable, environmental adaptability, simple control, selfadaptability, autonomy is a measure of the robot gripper design high level of an important symbol. Excellent performance of the robot gripper can achieve reliable, fast and accurate crawl. Research and development of an excellent performance of the robot gripper is a daunting task, including technical realization and theoretical studies two aspects. According to the robot gripper existing research results, bined with the development of the experience and see a lot of relevant literature, Summed up the robot gripper main research contents include the following aspects: Drivers and driveline Robot gripper in size, weight, flexibility and maneuverability, and other performance indicators there is a big difference, the main cause of these differences is due to the drive and the drive gripper used in different ways. Gripper according to the driving source can be divided into electrical, hydraulic, pneumatic, and shape memory alloys, dexterous hand drive capacity of the driveMotion and force students to pass a certain way to the finger joints, so do the corresponding joint motion, moving the design of the drive system are closely related. Although the impact of the driving source is an important factor in paw volume weight, but grab an important indicator of the stability and flexibility depending on transmission, transmission and drive here, according to the way the dexterous hand divided into the following types: Transmission tendon The first category is the tendon (wire, rope, etc.) together with the drive by the pulley or hose, which is characterized by: tendon generally has a high tensile strength and a light weight, easy to achieve multiple degrees of freedom and longdistance power transmission , saving space and cost, is a zerobacklash supple transmission mode. However, the limited stiffness tendon itself, affect the position accuracy。 control requires a certain preload, prone to friction。 tendon layout prone coupling torque and motion. These factors have increased the gripper grab control of the difficulty and plexity. Linkage Transmission In addition to outside the tendon drive, another one is using the link transmission mode. Which is characterized by planar linkage transmission, the advantage of good stiffness, large output, load capacity, manufacturing easy, easy to get higher accuracy, the contact between the ponents can rely on geometric closed to achieve, better able to achieve multi species and the trajectory movement of the request, but the design is plicated. Other Transmission Gripper drive will rotate through the threaded into a linear motion, pull the drive and driven by a spring between the fingers Finger generate action, the finger part adopts lever connected to each finger movements independent of each other, with a variety of crawling configuration, and the other multifingered hand pared to drive more flexible, but the longer the closing finger, the finger structure is relatively plex and prone to failure. Artificial Muscle Drive Hydraulic drive and pneumatic drive rise in recent years as an important drive, is to simulate a human muscle drive, due to material and technical constraints, these artificial muscle technology is still far from satisfying the robot gripper reliable, fast, and accurate capture function. Shape Memory Alloy Drive In addition to hydraulic and pneumatic driven gripper outside, there is a shape memory alloy drive gripper. There are four fingers, each finger need 12 drives. Characterized by load capacity, but there fatigue and life issues, finger reaction rate is not high. owe DriveAdvances from the robot gripper, the multifingered robot hand is still the most studied, but based on multifingered dexterous hand tendons and pulleys (or hose) transmission mode causes output is small, the load capacity is poor, control plexity, restricted robots in the service of its application. Despite the use of some new technologies, such as linear motors, etc., but its fundamental drive and transmission mode has not changed, still unable to overe their weaknesses. For space robots, underactuated space robot gripper is an important research direction. By underactuated finger mechanism, mechanical limit to achieve unpowered joints and springs on the shape of the passive adaptive crawling with little driving element, grab a wide range of simple control, large output, load capacity and good features. Intelligence BiosensorSpace robot gripper sensor is internal and external environmental information for the primary means to enrich the perception of the job is to raise the level of robotics and autonomous capability necessary conditions. The study includes the selection and configuration of the sensor, the new sensor design, multisensor integration and information integration. Configured on the gripper sensors include haptic and visual sensors, in addition to feel close to sensors, distance sensors. Visual and haptic space robot gripper is the most important information. General gripper handeye system will integrate and force sensor has a wealth of information through visual information can be obtained gripper global state, and signal processing and data fusion based on the results of the various parts of the gripper determine the current status and Reliable crawl. Autonomous robots crawl the study, mostly for visionbased control, such as visual positioning and servo. Work more representative Literature. But they do not work in the case of vision can not be adjusted online pose. Information Fusion and handlingToday, in the development of intelligent robots is an important issue facing the unstructured environment in which the inaccuracy of the