中文摘要：

仿生人手的构造和功能,设计了ZSTU拟人灵巧手并进行了运动学和动力学仿真。内置型ZSTU拟人灵巧手由伺服电机驱动,手指的结构和布置接近真实手,每个手指有4个自由度。先构建了ZSTU拟人灵巧手的虚拟样机,依据机器人运动学和动力学原理,进行了多种手势、抓持操作、单指工作空间的运动学仿真和手指动力学仿真。仿真结果表明：ZSTU拟人灵巧手结构合理,有较大工作空间,可实现多种灵巧操作。

英文摘要：

Imitating the structure and function of human hands,a ZSTU anthropomorphic robot hand was designed,which was driven by the embedded servo motors and has 20 DOFs.According to the robot theories of kinematics and dynamics,a virtual prototype of the ZSTU anthropomorphic robot hand was used to simulate the manifold gestures,the work space of a single finger＇s work space and grasping manipulations.Experiment results show the work space and mechanical structure of the ZSTU anthropomorphic robot hand are reasonable,and it has dexterous to realize precise manipulations as human hands.