A kind of driving mechanism of skillful energy saving single degree of freedom simulation manipulator is designed to solve the problem of driving element more

structure complex and bulky of multi-touch capture device

such as robotic assembly and medical finger recycling.The equation of motion relation between knuckles is deduced

the parametric simulation model is established by using ADAMS.The difference between mechanism motion trajectory of specific component size and hand grab trajectory is analyzed

and the optimal mathematical model meeting hand grab trajectory

smallest driving torque and smallest component length is presented.Several optimal schemes

which are somewhat like hand grab trajectory are obtained by using NSGA-II algorithm and it is verified by parametric simulation model.The design solutions show that

the skillful motion among knuckles of proposed driving mechanism can be easily completed through a driving element.Thus

the size of the mechanism is not only smaller

but also energy saving and environment protection.It is a new method in simulation manipulator design.