An important theoretical problem of the robot is how to gain necessary movement by controling mechanical hand. This paper describes the basic movement of the manual operation as the system of a rigid body which is made up of seven parts withe nive degrees of freedom. This movements are anlysed strictly and exactly with the gravity，control and friction of the seven parts into consideration. Various functions can be cleverly performed by the robot. In order to facilitate calculation on the computer，movement differential equations are created in terms of kane equation. These differantial equations are expressed by generaliced coordinates，which can be regarded as theoretical proof of analysing the movement mechenical hand.