The present invention relates to a 4D printing-based flexible finger joint gripper and a trajectory tracking control method therefor. The 4D printing-based flexible finger joint gripper comprises a palm unit and five finger units connected to the palm unit; each finger unit comprises two flexible finger joints and two phalanges, each flexible finger joint is divided into upper and lower LCE liquid crystal elastomers, and the LCE liquid crystal elastomers are used for realizing bidirectional bending movement of the finger units. According to the present invention, the flexible finger joint gripper can be accurately controlled.
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