The invention discloses a continuous rotation multifunctional three-finger mechanical paw. A physical mechanical structure comprises a wrist part and a paw part. On the basis of the physical mechanical structure, a control system and a sensing system of the three-finger mechanical paw are constructed. The wrist part comprises a rotation freedom degree and is used for rotation of the three-finger paw. The paw part comprises an opening and closing freedom degree and is used for opening and closing of the three-finger paw. The control system of the three-finger mechanical paw comprises two motordrivers. The sensing system is composed of two touch switches, and the paw opening and closing extreme position is detected. Through the finger tip part mechanical structure design, the function similar to the function that an inner hexagon wrench screws an inner hexagon screw can be achieved. The continuous rotation multifunctional three-finger mechanical paw has the beneficial effects that the grabbing, operating and continuous rotating functions are combined, and the operation functions of inner hexagon screw and outer hexagon nut screwing can be achieved.