在简要介绍开端钢缆传动结构及其特征矩阵的基础上，将操作臂速度可操作性椭球的概念引入钢缆传动手指机构，给出了手指具有各向同性速度传递性质的条件．建立了开端钢缆传动中各缆速间的协调关系，并根据缆速空间与指端速度空间之间的映射关系，给出了建立手指指端操作速度矢量集合的方法．为评价指端实际的速度操作灵巧性，还提出新的度量指标，并结合算例介绍了对手指机构进行操作灵巧性分析的方法 Based on a brief introduction of the cable drive structure and its characteristic matrix at the beginning, the concept of manipulable arm speed manipulable ellipsoid is introduced into the cable transmission finger mechanism, and the condition that the finger has isotropic velocity transmission is given. Based on the mapping relationship between the cable speed space and the finger tip speed space, a method to set up the finger vector speed vector set is given. In order to evaluate the actual dexterity of fingerprinting, new metrics are also proposed, and examples are given to introduce dexterity analysis of the finger mechanism