To address the prevalent issues of high cost and non-anthropomorphic appearance in current prosthetic hand design. A novel approach was proposed and tested based on the anatomical structure of the human hand, kinematic experiments, and simulation of prosthetic hand multi-rigid body models. Human hands were selected as the research subject, with three common hand activities ("grasping, gripping and pinching") chosen for analysis. Kinematic data on hand joint movements were collected using the Vicon motion capture system, and joint motion angles were calculated and subjected to joint motion correlation analysis. Multi-rigid body models of prosthetic hands were developed based on human hand computed tomography(CT) images. Kinematic simulation of these multi-rigid body models was conducted using experimental kinematic data from human hands. Finally, 3D printed prototypes of the multi-rigid body models were created for grip performance testing. The results demonstrate that these anthropomorphic prosthetic hands are capable of executing the three common hand actions with an average single fingertip force of 1.73 N and a dual fingertip force of 3.92 N. The surface friction coefficient of the prosthetic hand is measured at 0.79, with a gripping force reaching 4.14 N. The designed anthropomorphic prosthetic hand exhibits both a human-like appearance and basic functionality while maintaining low manufacturing costs, thereby meeting both psychological needs and purchasing requirements for individuals with disabilities. The research results provide a methodological reference as well as practical insights into personalized prosthetic hand design.