中文摘要：

仿照人类手指结构,设计出三指灵巧手的机械结构.灵巧手每个关节由电机驱动,手指结构接近于人手,每个手指具有4个自由度.进行单指运动学分析,得到坐标变换矩阵,通过Adams软件进行单指位姿和指尖位移仿真.通过对灵巧手的动力学分析,利用Adams软件对单指弯曲这一常见动作进行动力学仿真.仿真结果表明：灵巧手设计结构合理,有较大工作空间,动作灵活,可实现多种灵巧操作.

英文摘要：

Imitating the structure and function of human hands,the mechanical structure of three- fingered dexterous hand were designed,the dexterous hand joints driven by motor,the structure of the finger being close to the real hand,and every finger have four degrees of freedom. Through the analysis the single fingered kinematics,the coordinate transformation matrix was obtained,and the single fingered position and fingertip displacement were simulated by Adams software; through the dynamics analysis of the dexterous hand,the Adams software was used for dynamic simulation of the common action of single finger bend. The simulation results show that structure design of dexterous hand is reasonable,with large work space,flexible dexterous hand movements,which can realize many kinds of nimble operation.