中文摘要：

以3-RRR三自由度球面并联机构为原型,在其静力学及刚度特性分析基础之上,从仿生学角度出发,采用植入中心球面副的方式,提出了两种改进的可应用于人形机器人肩关节、髋关节的过约束四支链仿生关节机构,并实现了静力全部或部分卸载及刚度均衡.对引入的机构中心球面副进行结构改进,大幅扩大了机构实际工作空间.新型仿生关节机构的提出及其结构设计对人形机器人关节的研制具有理论指导意义和实际应用价值.

英文摘要：

Two bionic joint mechanisms with four over-constraint chains were proposed based on the 3-RRR spherical 3-DOF spherical parallel mechanism,which could be applied to the shoulder and hip joint for humanoid robot.In the view of bionics,the center spherical pair was introduced based on the statics and stiffness characteristics analysis,which can realize the unloading for full or part of the static and the equilibrium of stiffness.The practical workspace was expanded widely with the improvement of the structure of the center spherical pair.The presentation and structure design of the novel bionic joint mechanism possess an important theoretical significance and practical value for the development of the humanoid robot joint.