中文摘要：

三自由度手指由3个气动柔性弯曲关节串联而成，弯曲关节由气动柔性驱动器（FPA）驱动。关节驱动力矩的大小取决于各个关节FPA内腔中的压缩气体压力的大小。推导了手指运动学方程及力雅可比矩阵，分析了手指指端受力状况，建立了指端输出力与各个内腔气体压力增值之间的映射关系。对手指指端输出力进行了仿真研究和实验研究，实验结果与力模型结果基本吻合。

英文摘要：

A 3-DOF finger consisted of three flexible pneumatic bending joints, the bending joint was driven directly by a FPA, the joint torque was decided by the value of the compressed air in the FPA. The kinematics and Jacobin matrix of the finger were educed herein. The statics of the finger was analyzed, and then static model about fingertip force and the value of the pressured air in FPA was built. Experiments were carried out to verify the statics model. It is concluded from theoretical and experimental results that the experimental force value matches with the simulation force value basically.