Mechanisms may be used in the design of robotic fingers, in order to obtain drive systems which can be used for gripping or manipulating objects. In this work, a design methodology for a drive mechanism of an “anthropomorphic finger” is presented. The finger was previously developed by 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, taking into account that the mechanism must fulfi ll the anthropometric characteristics of a human hand based on ten numerical positions (which were obtained from a previous UMNG work). Numerical simulation results and CAD modeling for the drive mechanism are presented. Finally, a discussion about results is included.