Optimal design and workspace analysis of tootharrangement threefingered dexterous hand

Based on analysis of human hand grasp, the finger number and the kinematic pair pattern are decided. Aiming at the parameters of each finger, a multiobjective function for optimizing the structure of multifingered hand was proposed. Considering the peculiarity of tootharrangement and dexterous hand grasp, the constraints were established, and a satisfactory result was gained. Furthermore, the optimal results were analyzed, and a law of parameter optimal design was given. It is proved that this optimization method is effective to optimize the relation of each parameter and make it integrated optimum under each standard. At last, the practical workspace of this hand was analysed and simulated. And a new effective simulation method of workspace was proposed.