针对传统多指手结构复杂性、抓握力与柔顺性之间的矛盾，该文结合连杆和腱绳各自的传动优势，提出了一种模块化的多指手设计方案。手指模块通过融合刚性连杆机构与腱绳-弹簧柔顺系统，实现近/远指节耦合运动，在维持系统低复杂性的同时获得相对高的抓握力与柔顺性。通过分析手指外力-位移耦合关系，建立了手指指端接触力与柔顺关节转角之间的运动学关系，量化抓握柔顺性能。拇指模块则采用单向腱绳传动方式，通过建立驱动角度与指节转角的映射关系，结合差异化扭簧补偿单向传动的局限，在保证抓握适应性的同时降低整体机构体积，实现对拇指指尖的精确控制。通过模块化设计，为多指手的制造、安装与后期维护提供便利性，降低了总成本。实验结果表明：该多指手具有较高的柔顺性与抓握适应性，能完成Feix分类法中的11类精确抓取与5种全包络抓取，常规尺寸下单指提拉负载能力达98 N。所研发出的多指手已成功集成于广汽研究院GOMATE人形机器人系统，为人形服务机器人的研发提供了一种高适应性的抓取解决方案。

To address the inherent contradiction among structural complexity, grasping force and compliance of conventional multi-fingered hands, this paper proposes a modular design methodology that synergizes the transmi-ssion advantages of linkages and tendons. The finger modules integrate rigid linkage mechanisms with tendon-spring compliant systems to achieve coupled proximal/distal phalanx motion, delivering enhanced grasping force and compliance while maintaining low systemic complexity. Through the analysis of force-displacement coupling relationships, kinematic models correlating fingertip contact forces with compliant joint rotations are established, thus quantitatively characterizing the grasp compliance. The thumb module employs a unidirectional tendon-driven mechanism, uses the mapping relationships between actuation angles and phalange rotations combined with staggered-stiffness torsional springs to ensure the grasping adaptability, minimize the volumetric footprint and achieve precise fingertip control. Modular architecture significantly streamlines manufacturing, installation and maintenance processes, thus reducing the total cost. Experimental results demonstrate that the proposed multi-fingered hand is of high compliance and adaptability. It achieves 11 precision grasps and 5 power grasps classified under the Feix Ta-xonomy, with a single-finger lifting capacity up to 98 N in conventional dimensions. The proposed multi-fingered hand has been successfully integrated into GAC R&D Center’s GOMATE Humanoid Robot System, which provides a high-adaptability grasping solution to humanoid service robotics.