中文摘要：

关于机器人关节动态设计优化问题，机器人关节机构应随仿生特性要求而变化。建立了拮抗安装气动肌肉驱动的关节模型，通过齐次坐标变换建立了气动肌肉伸缩量与关节转角之间的精确模型。提出了4个约束条件，定义了关节有效摆动角度。为分析不对称和不等高机构对转动角度、速度及加速和控制精度的影响，利用MATLAB编程进行了3组参数下的摆动仿真，对比了关节轨迹曲线，并分析了各约束条件的强弱。针对人手臂关节，优化设计了仿生肩和肘关节。与传统方案对比表明，优化设计的仿生肘关节转角范围更广；肩关节加速性能更好；仿生关节性能特性更接近人类上肢体运动特点。

英文摘要：

This paper pointed out that bionic joint mechanism should be altered to meet different needs. It also established the model of pneumatic muscle - based antagonistic actuation. According to the model, this paper obtained the relationship between the joint rotating angle and the contraction accurately, and defined the effective rotating angle of the bionic joint. This paper paid attention to the constraint conditions in the process of turning the bionic joint, and comparedthe strengths of these conditions. The author analyzed the affection of unsymmetrical mechanism with different heights on maximal and minimal angles, velocity, acceleration and control precision by the simulation of 3 groups of parameters using MATLAB. Bionic shoulder and elbow joints were optimally designed. The simulation results show that, compared with traditional scheme, the comer of bionic elbow joint designed in this paper is boarder, accelerating performance of the shoulder is better, and its characteristics are more close to the swing of human body joint.