提出了一種人手掌的簡化模型，根據該模型，設計了仿人靈巧手掌的機構，使得只作為仿人靈巧手手指及其控制部件機架的手掌形成弧形自由度參加手部動作，提高了仿人靈巧手通用性、靈活性和抓持物體的適應性。經優化設計和仿真，機構完全符合靈巧手進行運動時手掌的運動要求。
關鍵詞：機器人；含弧形自由度仿人靈巧手掌；機構優化
Abstract：This paper introduces a model to predigest the palm of human ,according to the
model ,mechanisms of the dexterous robotic palm is designed, in order to make the palm which is mostly used as the rack of the dexterous robotic fingers and their control units form palm arch degree to assist the operations of the dexterous robotic hand，to improve the interchangeable capacity，dexterity and adaptability when the dexterous robotic hand grasps objects. After mechanisms optimization and simulation, the mechanisms adapt for the demands of the palm’s operations when the dexterous robotic hand is moving totally.
Key words：robot ; dexterous robotic palm including palm arch degree; mechanisms optimization