Abstract: At present,the fully driven dexterous hand has many problems such as too many driving motors and insufficient grasping power.However,the highly underactuated dexterous hand has some problems,such as low independent control ability and insufficient dexterity. To solve the current problem,a four-finger dexterous hand based on cross-four linkage was designed,and the coupling motion between proximal and distal knuckle joints was realized by comparing the structure with the finger of an adult. Roll-pitch joint structure other than traditional yaw-pitch was put forward,applied which to 3 fingers except the thumb,enable the 3 fingers to flex and rotate,which can enrich dexterous hand grasping posture and enhance its dexterity; the thumb adopts a lateral swing structure in the metacarpophalangeal joint to achieve coordination with the other three fingers. The kinematics model of fingers were established in MATLAB software and the end working spaces of fingers were obtained. The dexterous hand was simulated by ADAMS software,and the rationality of the dexterous hand structure was verified by analyzing the movement characteristics of fingers. The experimental results showed that the four-finger dexterous hand had good grasping performance and high practical value.

Key words: dexterous hand, design, work space, ADMAS simulation, grab