This thesis deals with the kinematic and force analysis of multi-fingered, multi-jointed dexterous hands. The analysis involves calculation of the basis for null space of the grasp matrix. An algorithm is developed to perform all necessary analyses of dexterous hand. All equality and inequality constraints are automatically formulated in a constraint matrix. These include unisense constraints, frictional constraints, and joint torque limits. The reduction of the constraint matrix into a compact form is also presented. The algorithm is written in Fortran and employs IMSL library routines. It is user friendly and capable of handling all practical grasping problems. Different types of contact (point contact without friction, point contact with friction and soft finger contact) may be examined. This software can easily determine the feasibility of a grasp for a given set of contact forces/torques, and may potentially be combined with other routines to compute the optimum value of contact wrench intensities and joint torque values.