中文摘要：

从结构和功能仿生角度出发,提出球面并联式人形机器人髋关节机构,并针对其开展运动学分析与仿生设计。根据人体髋关节结构和运动特性,选取3-SPS/S（S为球面副,P为移动副）球面并联机构作为髋关节仿生原始构型;依据螺旋理论对髋关节原型机构自由度数目、性质及位置反解进行分析;采用遗传算法,以姿态工作空间最大化为目标对并联髋关节机构进行优化;结合人体髋关节实际结构特点,提出偏置输出方式,从而使得机构实际输出空间的形状和位置更加符合人体髋关节运动轨迹需求。研究内容为人形机器人髋关节仿生的理论研究和进一步的样机研制奠定了基础。

英文摘要：

A spherical parallel mechanism for the hip joint of the humanoid robot was presented from a structural and functional bionic point of view.And the bionic design and kinematic analysis were performed. 3-SPS/S（S-spherical pair, P-prismatic pair） was chosen as the original configuration for the hip joint according to structural and kinetic characteristics of the human hip joint. Based on the screw theory, number,nature of the degree of freedom（DOF） and the inverse position solution were analyzed. The pose workspace maximum was taken as an object to optimize the parallel hip joint by genetic algorithm. An offset output mode was raised to make the shape and location of actual output space fit the trajectory demands of the human hip joint better. The results provide a foundation for the bionic hip joint study of the humanoid robot and further prototype development.