针对非结构环境中完成复杂操作对超冗余仿生象鼻机器人的需求，项目研究开放式超冗余仿生象鼻机器人的设计方法与性能保证技术，确保具有优良的结构性能与操作性能。主要研究内容有：(1)研究开放式超冗余象鼻机器人结构仿生设计，综合出结构新颖的超冗余仿生象鼻机器人机械构型，确定具有优良性能的机器人拓扑结构与驱动方式。(2)建立面向设计的数学模型，提出可用于超冗余仿生象鼻机器人的性能指标与设计准则，研究这一复杂冗余机械系统的结构优化设计方法，从设计角度保证具有优良的结构性能。(3)研究基于刚度最大的路劲规划与能耗最小准则的运动规划方法，以保证超冗余仿生象鼻机器人具有优良的操作性能。(4)研制一台开放式超冗余仿生象鼻机器人原型样机，验证超冗余仿生象鼻机器人结构仿生-优化设计-轨迹规划一体化性能保证技术体系的可行性。项目致力于保证系统的整体性能，以期为开放式超冗余仿生象鼻机器人的研制提供设计方法与技术支撑。

In order to satisfy the requirement of hyper-redundant elephant's trunk robot to fulfill the complex operation task under unstructured environment, this program deals with the design methodology and performance assurance technique of a novel hyper-redundant bionic elephant's trunk robot with open structure so as to achieve a good structural performance and operation capability. The following issues are mainly concerned in the program: (1) Design the bionic structure of the hyper-redundant elephant's trunk robot and then determine the topological structure and the actuation to provide a hyper-redundant bionic elephant's trunk robot with new open structure and good performance. (2) Establish the model oriented for the optimization design, provide the performance indices and design criteria, and then research on the optimization design methodology of the hyper-redundant bionic elephant's trunk robot with the presented performance indices and design criteria so as to obtain the desired structural performance. (3) Plan the path of the hyper-redundant bionic elephant's trunk robot based on the maximum stiffness and optimize the motion based on the minimum energy consummation criterion to enhance the operation capability. (4) Develop a prototype of bionic elephant's trunk robot with open structure to verify the feasibility of the performance assurance technical system integrating the structural bionic design, optimization design and trajectory planning, which is used to guarantee the hyper-redundant bionic elephant's trunk robot to have a good structural performance and operation capability. The program devotes to achieve the optimum overall performance for the hyper-redundant bionic elephant's trunk robot. The aim of the program is to provide the design methodology and technical support for the design and manufacture of the hyper-redundant bionic elephant's trunk robot with open structure.