中文摘要：

虽然水下机器人能够下潜到海面以下几乎任何深度，但是目前还没有一双合适的灵巧手能够与之匹配。在总结现有的末端执行器的驱动形式基础上，文中提出了一种用于水下灵巧手的新型液压驱动器，介绍了该驱动器的结构形式、工作原理和相对于传统的液压驱动器的优势；提出了基于ANSYS分析软件APDL参数化语言的一种设计分析方法。通过设计分析程序的编制、运行以及结果的后处理，论述了该方法较之ANSYS的GUI窗口式分析方法的优越性。从分析的结果可以看出，该驱动器能够很好地满足水下灵巧手对手指结构的要求。

英文摘要：

Though underwater robots can submerge almost any depth, there is no dexterous end effectors can fit them well. In the base of analysis of the drive structure of the existing end effectors, this paper provides a new kind of drive which used in dexterous end effectors, and introduces the structure of the drive, working principle of the drive and its predominance compared with the conventional hydraulic drive, and provides a method of design and analysis based on APDL parametric language of ANSYS. Through the programming and running of process and post processing of the result,this paper dissertates the predominance of this kind of method compared with GUI analysis method of ANSYS. The result of analysis shows that this new drive can adequately meet the requirement of finger structure of underwater dexterous end effectors.