Abstract: Due to the weak gravity and the complex geological morphological characteristics of small celestial bodies,attachment and fixation become an important prerequisite for exploration robots in exploration tasks. So, a multi-toed microspine gripping device assembled in the end of exploration robot is proposed, which can hook into the small celestial body surface by toe microspines, and provide fixation by the joint action of multiple independent and non-interfering toes. The device has a strong adaptability in wide range of landforms by analysis and verification through ground tests, and the result provides reference and engineering guidance for the surface attachment and fixation of small celestial body exploration robot.