中文摘要：

全驱动灵巧手需要较多独立驱动单元，控制系统复杂，导致体积和重量过大，费用昂贵，在实际应用中有极大局限性。欠驱动灵巧手具有驱动单元少、控制简单等特点。在保证具有一定运动灵巧性的前提下，欠驱动灵巧手能极大降低灵巧手本体及控制系统的复杂度和制造维护成本，体现出更高的实际应用价值。由此提出一种新颖的仿人单腱弹性欠驱动四指灵巧手的设计方案。同时，完成四指灵巧手本体结构设计，及分析获得关节弹簧刚度的选取方法。对影响关节驱动转矩的滑轮单元进行几何参数的优化分析，得到手指传动机构的较优设计方案。通过多指手样机对不同形状、大小物体的抓握试验，证明本欠驱动四指灵巧手具有抓取自适应能力和较强抓取能力。

英文摘要：

For the dexterous hands, some features such as many actuator elements, complex control system and high cost make them difficult to be widely applied in a short time. Underactuated multi-fingered hands have the advantage of less actuators, simpler control system. So they can greatly cut down the complexity and cost of the hands under conditions of ensuring enough flexibility of grasping. A novel design program of the underactuated multi-fingered hand which has a tendon-pulley transmission is proposed. Following that, mechanical structure of the underactuated multi-fingered hand is designed. The methods of the joint springs are discussed. Pulley element＇s geometrical parameters which could affect the magnitude of the joint driving torque have a optimization analysis. Based on the analysis, an optimum design of the finger mechanism is proposed. Experimental study shows that the hand have a strong adaptive ability, and have a powerful grabing objects ability,