本项目对串并混联多自由度拟人机械臂的动态结构参数优化方法及冲击动载协调分配等问题进行研究。主要研究内容为：1、提出了一种新型串并混联拟人机械臂机构，发挥了并联机构与串联机构的优点，具有结构简单、承载能力强、运动惯性小等优点。2、考虑输入力、惯性力、关节粘性阻尼及外力冲击等作用下，对拟人机械臂的动力学模型进行研究，给出各动态力及各性能评价指标的分布规律。3、提出一种多参数平面模型技术及一种基于多参数平面模型技术的多目标概率参数设计方法，弥补当前结构参数优化方法的不足之处，研制一种拟人机械臂样机。4、提出一种基于蒙特卡洛技术的冲击动载协调分配优化方法及一种阻抗式柔顺控制方法，考虑能耗最低、时间最快的情况下，给出系统的最优输入组合及其柔顺控制模型，减小冲击载荷对机械臂的破坏作用。5、对这种拟人机械臂的动态特性进行试验研究，验证理论的正确性。本课题的研究成果为开发新型结构的拟人机器人奠定了基础。

The dynamic parameters optimum and optimized impact energy distribution methods for series-parallel hybrid humanoid mechanical arm are analyzed. A novel series-parallel hybrid humanoid mechanical arm is proposed, and the hybrid humanoid mechanical arm owns advantages of simple structure, lower inertia and high payload capacity etc. Then the global dynamics performance evaluation are researched based on the dynamics performance evaluation analysis, and the distribution of the global dynamics performance evaluation are described. The global dynamics performance evaluation index is researched based upon the the plane model of solution space for multiple parameters, and the distribution of the dynamics performance evaluation index is drawn. Third, the statistics parameters dynamics optimization based on the plane model of solution space for multiple parameters and the plane model of solution space for multiple parameters are proposed, and the series-parallel hybrid humanoid mechanical arm is designed by using the statistics parameters dynamics optimization based on the plane model of solution space for multiple parameters. Fourth, the optimized impact energy distribution methods for series-parallel hybrid humanoid arm is proposed, and the optimum input of the mechanical arm are developed based upon the lowest energy consumption and the fastest. Fifth, in order to reduce the impact damage, a impedance compliance control method is proposed, and Compliance control model is developed. At last, the dynamics test is developed, in which the dynamics test will be verified the theory analysis. The present analysis provide the base for the applications of the novel series-parallel humanoid robot.