The prosthetic finger is designed with multiple degrees of freedom, driven by a single motor, and connected by wire rope coupling connecting link mechanism. A simplified model of the prosthetic finger is established. Based on kinematic analysis, the for-ward kinematic solution is obtained and the appropriate finger size and turning angle of each joint are selected, and the working space among finger tips is obtained. The relationship between motion parameters and time of finger joints of two different kinds of prosthetic fingers with and without the coupling connecting link mechanism is compared and analyzed. Research shows that prosthet-ic fingers with coupling connecting link mechanism can solve the problem in those without such mechanism: inconsistent motion of three fingers in different directions. The findings have laid foundation for planning, designing and optimizing the prosthetic hand in grasping movement and motion control.%设计了一种具有独立电机驱动、采用钢丝绳耦合连杆机构传动的多自由度仿人手指，并建立了手指机构的简化模型。同时，基于运动学分析得到了手指运动学模型正解，选取适当手指机构尺寸及各关节的转角范围，通过仿真获得了指端的工作空间。分析比较了有无耦合连杆2种手指各指节的运动位移与时间之间的关系，采用的耦合连杆传动，克服了无连杆传动过程中3个指节间在各个方向上的运动位移明显不一致性。为假手的抓取动作规划、运动姿态控制以及结构优化设计提供了进一步研究的基础。
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