中文摘要：

根据灵巧手运动过程中的实际要求,确立四杆机构的形式,并对其进行数学建模。利用遗传算法对机构进行优化设计。四连杆机构的优化目标就是在满足手指运动规律的基础上,使末端指节运动平稳,起点和终点加速度的数值尽量小。根据优化结果最终确定四杆机构的尺寸。结果表明,稍微改变一个参数,运动的平稳性会发生很大的变化,因此对四杆机构进行基于运动平稳的优化分析是至关重要的。

英文摘要：

Based on the actual requirements of dexterous hand,the four-bar mechanism is established and modeled.The mechanism is optimized with genetic algorithm.The optimization objective here is to get finger moving evenly and to minimize the acceleration at the beginning and end.Optimal designs are obtained.The results show that a small change of one parameter will affect the movement stability a lot.It demonstrated that stability optimization is critical.