Driving mode of finger’s mechanism is one of difficulties of mechanical dexterous hand.The current mode of rope pulley has some disadvantages such as insufficient stiffness of dynamic transfer.A dexterous finger based on closed link mechanism is developed which can transfer the power knuckles need efficiently and provide stiff transfer.Degree of freedom and the kinematics are studied in detail.Mechanism’s zero-point is analyzed and three-dimensional model and dynamic simulation of the mechanism is put up.The result indicates that in needful workspace no interference exists and the closed link mechanism works well.