摘要：The stable grasping gesture of a novel cable-driven robotic hand is analyzed. The robotic hand is underactuated, using tendon-pulley transmission and a parallel four-linkage mechanism to realize grasp. The structure design and a basic grasping strategy of one finger was introduced. According to the established round object enveloping grasp model, the relationship between the contacting and driving forces in a finger and stable grasping conditions were expounded. A method of interpolation and iteration was proposed to obtain the stable grasping gesture of the cable-driven hand grasping a round target. Quasi-statics analysis in ADAMS validated the variation of grasping forces, which illustrated the feasibility and validity of the proposed analytical method. Three basic types of grasping gestures of the underactuated hand were obtained on the basis of the relationship between the contact forces and position of a grasped object.