Mechanisms may be used in the robotic fingers’ design to obtain drive systems; which can be used for gripping or manipulating objects. In this work, a design methodology for an “anthropomorphic finger” drive mechanism is presented. The finger was previously developed using computational tools (CAD) at the UMNG-Colombia. The proposed methodology takes into account the mathematical relationships between the mechanical elements of the drive mechanism to carry out a dimensional synthesis; considering that the mechanism must fulfill the anthropometric characteristics of a ten numerical positions based human hand. Numerical simulation results and CAD modeling of the drive mechanism are presented.