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将多指手的设计分解为手指机构的灵巧性设计及手指的合理布位两个子问题。针对子问题一，以手指雅可比矩阵条件数的倒数为位形操作灵巧性指标确定了合理的手指杆长比例及指端的灵巧操作区间。以灵巧操作速度和灵巧操作力为指端操作灵巧性指标，给出了确定手指驱动器功率的算法。对于子问题二，根据操作灵巧性对各指端灵巧操作区间相对位姿关系的要求，给出了手指布位的一般性原则。
Multi-fingertip design will be broken down into the dexterity of the finger mechanism design and the rational placement of fingers two sub-problems. For sub-problem one, using the reciprocal of the conditional reciprocal of the Jacobian matrix of the fingers as the shape operation, the dexterity index determines the reasonable ratio of the finger length and the smart operation range of the finger. Dexterous operation speed and dexterous operating force are the dexterity index of finger operation, and the algorithm to determine the power of finger driver is given. For the sub-problem two, according to the dexterity of each finger on the smart operation of the relative posture of the relationship between the requirements of position, given the general principle of the finger placement.