长期以来人们一直在努力寻求仿制人自己手臂的途径和解决方案 ,虽然人手臂的组织、肌肉、软骨和骨头不适合做重复性工作 ,但是人手臂的结构对仿制手臂和设计机器人手臂有很多启发。根据这些启发 ,提出一种串并联结构拟人七自由度冗余手臂的设计思想和设计方案 ,该手臂采用球面三自由度并联机构作为肩关节和腕关节 ,该设计不仅结构紧凑 ,而且提高了手臂的承载能力和速度 People have long been trying to find ways and solutions to imitate their own arms. Although human arm tissues, muscles, cartilage and bones are not suitable for repetitive tasks, the structure of the human arm has many implications for imitating the arm and designing the robot arm . Based on these enlightenments, this paper proposes a design idea and design scheme of serial-parallel structure humanoid seven degree-of-freedom redundant arm. The arm adopts a spherical three-degree-of-freedom parallel mechanism as the shoulder joint and the wrist joint. The design not only has a compact structure but also improves the arm The carrying capacity and speed