中文摘要：

基于水下精细作业任务需求，阐述了手爪关节驱动形式的选择过程，满足水下作业灵巧手体积小、效率高、负荷大、结构相对简单的要求．并在此基础上，探讨了接触力控制液压回路设计的基本思路，双闭环接触力控制系统的工作原理．为了精确地控制手指与目标间接触力，液压伺服单元选用Moog公司的D633系列伺服阀，实现接触力连续控制．

英文摘要：

Concering the fine underwater operation, the paper discusses driving form of underwater mechanical dexterous, in order to meet the needs for small volume, high efficiency, high load and relatively simple structure. In addition,the paper elaborates the basic ideal design of hyfraulic control circuit, and the working principle of double closed loop contact force control system. For the precise control, the contact force between fingers and objextives,Moog＇s D633 series servo valve is selected as hydraulic servo unit,to realixe continuous contact force between fingers and objectives.