中文摘要：

提出一种新型拟人机械腿机构及其概率参数设计方法，研究了该机械腿的运动学性能。推导出该机械腿的位置反解、运动传递平衡方程和静力平衡方程，定义了运动传递性能评价指标、力传递性能评价指标及各全域性能评价指标，应用空间模型技术研究了各全域性能评价指标的分布规律，给出了各性能评价指标与各结构参数之间的影响规律；应用基于性能图谱的概率参数设计方法，为这种机械臂选取了合理的结构参数，同时，考虑加工与装配工艺性，设计了一种拟人机械腿，为拟人机械腿的轨迹规划、研制及控制奠定基础。这种机械腿具有结构简单、承载能力强、运动惯性小和加工工艺性好等优点。

英文摘要：

Parameter optimization for a novel mechanical leg was presented by using statistics method called statistics parameter optimization method based on index atlases. Several kinematics and mechanics performance evaluation indices were proposed and discussed according to the kinematics and mechanics analysis of the mechanical leg. Considering the assembly technique, a design scheme of the mechanical leg was developed using the statistics parameter optimization method based on the index atlases, which provided the basis for the applications of the mechanical leg. The novel mechanical leg can be applied in the modern humanoid robot fields which require high stiffness, lower inertia and good technological efficiency etc.