Wepresentamathematicalmethodforaccelerationworkspaceanalysisofcooperatingmulti-fingerrobotsystemsusingamodelofpoint-contactwithfriction.Anewunifiedformulationfromdynamicequationsofcooperatingmulti-fingerrobotsisderivedconsideringtheforceandaccelerationrelationshipsbetweenthefingersandtheobjecttobehandled.Fromthedynamicequation,maximumtranslationalandrotationalaccelerationboundsofanobjectarecalculatedundergivenconstraintsofcontactconditions,configurationsoffingers,andboundsonthetorquesofjointactuatorsforeachfinger.Here,therotationalaccelerationboundscanbeappliedasanimportantmanipulabilityindexwhenthemulti-fingerrobotgraspsanobject.Toverifytheproposedmethod,weusedasetofcasestudieswithasimplemulti-fingermechanismsystem.Theachievableaccelerationboundaryintaskspacecanbeobtainedsuccessfullywiththeproposedmethodandtheaccelerationboundarydependsontheconfigurationsoffingers.
