中文摘要：

SJTU-HR1是由并联关节的组成的34个自由度新型仿人形机器人,根据人体生理结构设计了其各个关节。把各个并联机构关节作为一个模块,定义了关节的输出角度和输入角度,建立仿人形机器人整体坐标系,建立手臂和腿末端的位置正反解模型。为仿人机器人运动规划,动作设计以及控制系统建立奠定基础。

英文摘要：

The platform of humanoid robot SJTU-HR1 is composed of parallel manipulator joints with 34 DOFs. In the paper, the robot joints are designed according to the construction of human being joints. The parallel manipula tor joint is taken as a module, and the input angle and output angle are defined. By establishing the coordinates of the whole body, the forward and inverse solution of every end effectors are formulated. The results are important for the study on motion planning, motion design, and control system design of SJTU-HR1.