Abstract: The problem of the design of multi-fingered hand is divided into two sub-problems, i. e, the dexterity design of finger mechanisms and the fixing of finger positions. For sub-problem one, the suitable proportion of finger link strengths and the fingertip dexterous manipulating space re determined by the reciprocal of conditation number of the finger jacobian matrix, which is defined as the quality measure of configuration dexterity of manipulation. And then, the method to determine the powers of finger actuators is presented according to the desired dexterous manipulating velocities and forces. For sub-problem two, based on the position relationships of fingertip dexterous manipulating spaces, which desired by the manipulating dexterity of multi-fingered hand, a general principle used to determine the positions of fingers on the palm is presented.

Key words: Design, Dexterity, Manipulation, Multi-fingered hand