20170210新要求说明书.docVIP

摘 要 随着机器人技术的发展，机器人在外形及功能等方面的类人化已是一个重要发展方向。颈关节是类人机器人结构中的重要组成部分，对机器人的性能有着很大的影响，设计一种面向机器人颈关节应用的机构具有重要的理论和现实意义。因此，设计了一个3自由度球面并联机构用以实现颈关节的功能，并对相关理论进行探讨。 关键词: 球面并联机构；机器人；颈关节 Abstract Humanoid robot is considered as a promising research field with the development of technology. At the same time neck joint is an important part of humanoid robot structure illustrated form its great performance influence on the whole robot. The research of the mechanism for imitating human neck motion is a meaningful project. Therefore, design a 3-DOF spherical parallel mechanism to reach the motion of human neck and