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:1004-2539(2004)04-0001-05(,400044),,,;,;,,,,,,,1,,,,1.1,1,,,,[1][2]::(RV):()::,(RV)::::(SMA)::11.2,,,,(),()1.3,,,2,,12.1,,,,2.1.1,,,;2.1.2(),;2.1.3,,,1284,,,;2.1.4,,2.1.5,2.2,,,,,,2.2.1,,,,2,,,,x-xy-y,,[3]22.2.2,,,,,,33[4]32.2.3,,,,,,,2.2.4(RV),4,,;,RV,,RV,,RV,,,,,,(),4(RV)2.2.5(),,,,2.2.6,,,,5,,,,[5]2.2.76,,,[6]562.2.87,,,,[7]220042.2.9SMA()8,,,,1,2,3,4,5,6[8]78SMA9102.3,3,,,9a,13,Ln();24,(),9b,12,3,4,1011,120,140,128,146,132,136138142148,168170174178;(roll)162,(pitch)164,(yaw)166[9],,,,[10]2.4,,RV,,111237(322),3.13.1.1()3284,P3AsimoSDR-3X12556158,,40,63,3953[11]3.1.2,BIP2000,THBIP13BIP2000,[12][13]13BIP200014ROBIAN,3(pitchyawroll),BIP2000pitch,yawroll[14]R.SellaoutiROBIAN,14,,[15]15163.1.3,,,;(SMA);(RubberActua2tor),,,,,,,15,16,[16]1718Utah/M.I.T19203.1.4,JinichiYam2aguchi17[17]3.2,25Utah/M.I.T(18),4,,3,16,42004[18]193,,,152333,172535,162636[19]20(NTU),17,,,,58,9[20]J.N.Sarris[21]4,,:1),;2),;3),,,;4),,;5),;6),,,,,,,,4.1.1,,,[22];4.1.2,,;4.1.3,4.1.4,,4.1.5,,,,,SMA,,1..:,19962..:,19993ArimuraYoshiaki,Multi-jointarm.America.US4631689,19864..:,19895RosheimMark.robotjoints.America:US4821594,19896StopaFrank.universalkoint.Germany:DE19822344,19997MatsudaHiroshi.elbowjoint.Japan:JP10225881,19988..:,19999RosheimMark.robotwrist.America,US5036724,199110..,1994(8)16-1811MatsudaHiroshi.elbowjoint.Europe,EP1207024,200212PhilippeSardainetal.Ananthropomorphicbipedrobotdynamicconceptsandtechnologicaldesign.IEEETRANSACTION,VOL.28,NO.6,NOVEMBER,199813K.Bernsetal.ARMAR-ananthropomorphicarmforhumanoidservicerobot.Detroit,Michigan,ICRA,199914B.Espiauetal.TheanthropomorphicbipedrobotBIP2000.SanFrancisco,Proc.ICRA200015R.Sellaoutietal.Designofa3DOFsparallelactuatedmechanismforahipjoint.WashingtonDC,Proc.ICRA200216IskarousM.climberrobot.America,US5551525,199617JinichiYamaguchietal.Designofbipedwalkingrobotshavingantagonis2ticdrivenjointsusingnonlinearspringmechanism.Grenoble,France,Proc.IROS97IEEE18AmmonK.Wright.KinematicsmappingbetweentheEXOSHandmasterex2oskeletonandtheUtah-MITdextroushand.IEEE.199019ShiraiTakeki.jointstructure.Japan,JP2002113681,200220LINLI-REN.Mechanismdesignofanewmultifingeredrobothand.Min2neapolis,Minnesota,Proc.ICRA,199621J.N.Sarrisetal.Developmentofasimpleanthropomorphicrobothandus2ingshapememoryalloys.London,IEEE.199522..,2001(4)810:20031117:863(2002AA423140):(1973-),,,()5284ABSTRACTS&KEYWORDSJOURNALOFMECHANICALTRANSMISSIONVol.28,No.4,20042004