中文摘要：

以实现人体肩关节结构和功能仿生为目标,提出以3-PCSS/S（PC表示具有环形导轨的移动副,S为球面副）球面并联机构为仿生肩关节的原型机构,并针对其开展机构优化与仿生设计。将具有环形导轨的移动副PC等价为转动副,进行机构的位置反解并求解其运动雅可比。应用遗传算法,依据所确定的姿态工作空间约束条件,以机构姿态工作空间的点数为优化目标,对机构尺寸参数进行全局优化;提出偏置设计以扩大机构输出转角范围,提高肩关节的灵活度。研究工作对人形机器人肩关节实体仿生设计及其研制具有理论指导意义和工程应用价值。

英文摘要：

In order to realize the aim of structure and function bionics of the shoulder joint, 3-PCSS/S（PC stands for the prismatic pair with the circular guide, S stands for the spherical pair） spherical parallel mechanism is proposed as the prototype for the shoulder joint, and the mechanism optimization and bionic design are performed. The PC prismatic pair with the circular guide is equivalent to the revolute pair, the inverse kinematics of the mechanism is solved and the Jacobian matrix is obtained. According to the determined constraint condition of the orientation workspace, choosing the number of the points in the orientation workspace as the optimization object, the global optimization on the parametric variables of the mechanism is carried out using genetic algorithm. The bias design idea is proposed which expands the range of the output angle of the mechanism, and the flexibility of the shoulder joint is improved. The research possess theoretical guidance significance and practical application value on the bionic design and the entity development of the shoulder joint of the humanoid robot.