中文摘要：

首先以偏置输出的3-RRR＋（S-P）仿生关节机构为原型机构,依据仿生原则并参照人体股骨结构,确定关节机构的偏置角。然后,提出关节机构工作空间与人体髋关节运动空间相协调的设计原则,进而确定关节机构的安装定位角度,完成人形机器人髋关节设计;建立仿生关节空间与机构空间的映射关系,并对该髋关节的运动学正反解进行求解。最后,通过数值计算证明关节机构可实现人体基本运动,同时使用Xsens Technologies公司的可穿戴式完全无线3D身体惯性跟踪仪及磁性运动跟踪器,采集人体髋关节在实际运动状态下的位姿信息,将获取信息经映射关系转换和反解变换,导入ADAMS模型中进行校验,进一步验证了建立的映射关系、安装定位角度及正反解的正确性。

英文摘要：

Based on the 3-RRR＋（S-P）spherical parallel hip joints with bias output,according to the bionic principles and referring to the structure of the femur,this paper determined the offset angle of the joint mechanisms,presented the coordination of the working spaces of the hip joints and the mechanisms,and ascertained the installing and locating angle of the joints on human body,which completed the design of the new humanoid robot hip joints.The paper made the mapping relationship between the spaces of the bionic joints and the mechanisms and solved the inverse/forward kinematics of the bionic joints.The numerical calculation shows that the joint mechanism may realize the basic movements of human hips,as well as the wireless wearable 3Dinertia tracking equipment and magnetic movement tracking equipment from Xsens Technology Co.for the human natural gait.After mapping transforms and inverse solving,the information was imported into ADAMS for test.The results,which also verify the practicability and scientific values of the joints,support the mapping installing characterized angle and inverse/forward solutions proposed.