This paper critically analyzes conventional and biomimetic robotic arms, underscoring the trade-offs between size, motion range, and load capacity in current biomimetic models. By delving into the human shoulder's mechanical intelligence, particularly the glenohumeral joint's intricate features such as its unique ball-and-socket structure and self-locking mechanism, we pinpoint innovations that bolster both stability and mobility while maintaining compactness. To substantiate these insights, we present a groundbreaking biomimetic robotic glenohumeral joint that authentically mirrors human musculoskeletal elements, from ligaments to tendons, integrating the biological joint's mechanical intelligence. Our exhaustive simulations and tests reveal enhanced flexibility and load capacity for the robotic joint. The advanced robotic arm demonstrates notable capabilities, including a significant range of motions and a 4 kg payload capacity, even exerting over 1.5 Nm torque. This study not only confirms the human shoulder joint's mechanical innovations but also introduces a pioneering design for a next-generation biomimetic robotic arm, setting a new benchmark in robotic technology.

翻译：本文系统分析了传统与仿生机器人手臂，揭示了当前仿生模型在尺寸、运动范围与负载能力之间的权衡关系。通过深入探究人体肩关节的机械智能，特别是盂肱关节的独特球窝结构与自锁机制等精细特征，我们识别出在保持结构紧凑的同时提升稳定性与灵活性的创新点。为验证这些发现，我们提出了一种突破性仿生机器人盂肱关节，该关节真实复现了从韧带到肌腱的人体肌肉骨骼要素，整合了生物关节的机械智能。全面的仿真与测试结果表明，该机器人关节具有增强的灵活性与负载能力。所开发的先进机器人手臂展现出显著性能，包括大范围运动能力、4公斤有效载荷能力，并可输出超过1.5牛米力矩。本研究不仅验证了人体肩关节的机械创新机制，还为下一代仿生机器人手臂提出了开创性设计方案，树立了机器人技术的新标杆。