中文摘要：

为优化仿人机器人手臂设计，基于Jourdain变分建立了刚柔耦合动力学模型；通过假设模态法对动力学方程进行解耦；编写了自适应变步长求解算法；在ADAMS虚拟样机和MATLAB上对水平面内的柔性手臂运动进行了仿真，人体手臂的运动仿真在虚拟样机进行．以人体手臂运动为参考，对比分析了变截面和等截面手臂的柔性变形，比较6种不同材质手臂运动中的末端横向变形量．仿真结果表明：等截面的仿人手臂运动可以近似等效为人体手臂的运动；柔性仿人手臂末端轴向变形量远小于横向变形量，对要求不高场合可以适当忽略柔性手臂的轴向变形；ABS材质的仿人机器人手臂柔性和人体手臂较为接近；改变ABS材质手臂的截面高度，可使得仿人手臂末端柔性和人体手臂一致，且振动主频和人体手臂固有频率不同．

英文摘要：

For optimization design of humanoid robot manipulators, rigid-flexible coupling dynamics model was established based on the Jourdain variation principle; assumed modes method was used to decouple the dynamics equations; a variable step size algorithm was programmed to slove the equations in the MATLAB; simulation of manipulators was carried out using MATLAB and ADAMS in the horizontal movement, motion simulation of human arms was carried out in the virtual prototype. According to the movement of adult arms, top deformations of manipulator were compared between variable and uniform cross section of manipulator. The top deformations of six different materials were also compared in the horizontal movement. Results of simulation show that the uniform cross section of manipulator movement can be approximately equivalent to movement of the human arm; axial deformation of humanoid robot manipulators is far less than transversal deformation of manipulators. Axial deformation of humanoid flexible manipulators can be ignored on the condition that the low required accuracy is not high; flexible performance of ABS material manipulators is closer to human arms flexible performance; changing height of section can make humanoid robot manipulators of ABS material to be the same top deformation as human arms, and vibration frequency of humanoid robot manipulators with ABS material is different with the natural frequency of human arms.