Abstract: Placing driving motors in the dexterous robotic fingers will enable the fingers’ self weight to have a greater influence on its operation capability.This paper deals with the problem of joint force analysis of three-fingered dexterous hand with symmetrical configuration.The objective function that represents the influence of fingers’ self weight on joint torque is defined to obtain the best grasp configurations in various palm configurations.Through the optimization analysis of the joint torque in various palm configurations,the mapping between palm configuration and fingers’ best configuration is developed.The optimization results are applied to a real robot system,and the operation results illustrate the validity of the method.