中文摘要：

气动系统以其具有结构简单、无污染、维修方便等优点，得到越来越广泛的应用。基于人体的拮抗肌对拉驱动原理，利用气动人工肌肉（PAM）驱动器，设计了三自由度（3-DOF）的仿生关节。在Adams环境下建立关节模型虚拟样机，并对其进行了运动仿真。仿真结果表明，该仿生关节结构运动曲线平滑、运动平稳、柔顺性好，满足设计要求。除此之外，对加工出的原理样机进行了可行性实验验证，绕X轴的旋转实验表明：a．当充气压力越大，前臂平台转角速度越快，b．当充气压力在0．2MPa及以上时前臂平台转角达到所需角度。绕Z轴的转角实验表明，前臂圆盘的转角范围为可达所需角度，验证了机构的可行性。

英文摘要：

Pneumatic systems which have the advantages of simple structure, no pollution and easy maintenance have gained more and more popularity. Based on the principle of antagonist muscle, a 3 - DOF bionic elbow joint is actuated by pneumatic artificial muscle （PAM）. In the environment of ADAMS, a virtual prototype of the joint model was established, and the motion simulation has been done. The simulation results show that the motion of bionic joint is smooth and steady, and it has a good flexibility, which can meet the design requirements. Besides, experimental verification was carried out on the principle prototype, and experiment of rotation of bionic joint a- round the X axis shows ： a. the higher inflation pressure is applied on the PAM, the quicker the platform of forearm will rotate; b. when inflation pressure is greater than or equal 2bar, the rotation angle of platform of forearm will meet the requirements. Experiment of rotation of bionic joint around the Z axis shows the rotation angle of the fore- arm platform can meet the requirements, which verify the feasibility.