Manipulator　is　an　important　bridge　to　connect　robot　and　environment.　However　the　current　manipulators　that　have　been　put　into　productions　are　accompanied　by　the　poor　flexibility,　low　operating　performance,　single　grasp　mode　and　other　defects.　In　order　to　solve　these　problems,　improve　the　flexibility　of　dexterous　hand　and　lay　the　foundation　for　the　later　control　experiment　of　dexterous　hand,　this　paper　will　further　analyze　the　working　performance　of　the　dexterous　hand　FZU-I.　In　this　paper,　the　researches　of　the　dexterous　hand　FZU-I　include:　introduce　the　overall　structure,　determine　the　range　of　motion　of　each　base　joint,　obtain　the　workspace　of　finger-tip　by　using　the　forward　and　inverse　kinematics　model　and　MATLAB,　analyze　and　compare　the　intersection　space　between　thumb　base　joint　under　three　different　configurations　and　index　finger.　Through　the　above　researches,　it　not　only　verify　the　feasibility　of　the　forward　and　inverse　kinematics　solving　model,　but　also　analyzes　the　working　performance　of　the　dexterous　hand　FZU-I　to　some　extent.　©　Springer　Nature　Singapore　Pte　Ltd.　2017.