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Utilizing the improved Denavit\u2013Hartenberg method and closed-loop vector method, kinematic models for multifingered dexterous hands \u2014 encompassing individual fingers, entire hands, and robot kinematics \u2014 were developed. The models facilitated simulation and analysis of each component\u2019s operational space, offering a clear depiction of the hand\u2019s grasping capabilities and providing foundational data for determining the appropriate size of objects to be grasped. Employing the constraints of finger-object contact and the principles of polygonal part grasping, a multifingered dexterous hand grasping model was constructed. An analysis of the initial contact force helix led to the exploration of a fundamental evaluation index for grasping quality based on force closure. Subsequently, an assessment of the grasping performance index was conducted under the condition of force closure. The optimization of the multifingered dexterous hand\u2019s grasping position was achieved through the application of the maximum inscribed ball criterion, which identified the position with optimal stability. Experimental findings demonstrate that the proposed method significantly increases the resistance threshold by 1.71 times, thereby advancing the study of grasping stability for underactuated dexterous hands. <\/jats:p>","DOI":"10.1142\/s1793962325500485","type":"journal-article","created":{"date-parts":[[2025,5,21]],"date-time":"2025-05-21T04:22:02Z","timestamp":1747801322000},"source":"Crossref","is-referenced-by-count":1,"title":["Analysis of motion characteristics and grasping stability of underdriven dexterous hand"],"prefix":"10.1142","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5620-3320","authenticated-orcid":false,"given":"Dianjun","family":"Wang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Petrochemical Technology, No. 19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, P. R. 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