本論文使用邊界元素法，探討機器人手指夾持物件時，接觸區域大小、其牽引力分布、與夾緊位移之關係。在同時考慮物件在接觸區域外的節點不得穿透機器人手指，以及接觸區域內的所有節點之正向牽引力為壓力的條件下，進行接觸分析，並與赫氏接觸的解析結果作比較。本論文分析結果包括剛性手指夾持圓柱形彈性體，以及彈性或剛性手指夾持矩形彈性體之多區域接觸分析，手指與物件可分別為不同的材料，探討夾緊量、材料常數及手指寬度對接觸區域內牽引力的影響。 Boundary element method is used in this thesis to investigate mechanical response in robot grasping. Specifically, the contact size and traction distribution are determined for given tightening displacements. Contact analysis is performed be imposing the two criterions: nodes outside the contact zone do not penetrate the other body; and all tractions inside the contact zone are compressive. Numerical results are first checked against analytic results. Cases treated in this thesis include cylindrical objects grasped by rigid fingers, and rectangular elastic objects grasped by rigid or elastic fingers. The latter is performed by multiple region analysis. The dependence of contact traction on tightening displacements, on modulus of elasticity, and on finger width is discussed in this thesis.