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本文对目前已经制造出的几种典型的多指灵巧手的结构进行了分析。对多指灵巧手结构形式上的几个主要方面进行了优化分析，提出了完成一般任务的通用的多指灵巧手的最优结构型式，并对其进行了具体的结构设计，给出了三维视图。
This article analyzes the structure of several typical multi-fingered dexterous hand that has been produced so far. This paper analyzes and optimizes several major aspects of multi-finger dexterous hand structure, and proposes the general structure of multi-fingered dexterous hand which is used to accomplish general tasks. The structure of the multi-fingered dexterous hand is designed and the three-dimensional view.