This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the substantial function of soft tissues, leading to a compromise between compactness, safety, stability, and range of motion. In contrast, this study proposes a holistic replication of biological joints, encompassing bones, cartilage, ligaments, and tendons, culminating in a biomimetic robot. The research underscores the compact and stable structure of the human forearm, attributable to a tri-bone framework and diverse soft tissues. The methodology involves exhaustive examinations of human anatomy, succeeded by a theoretical exploration of the contribution of soft tissues to the stability of the prototype. The evaluation results unveil remarkable parallels between the range of motion of the robotic joints and their human counterparts. The robotic elbow emulates 98.8% of the biological elbow's range of motion, with high torque capacities of 11.25 Nm (extension) and 24 Nm (flexion). Similarly, the robotic forearm achieves 58.6% of the human forearm's rotational range, generating substantial output torques of 14 Nm (pronation) and 7.8 Nm (supination). Moreover, the prototype exhibits significant load-bearing abilities, resisting a 5kg dumbbell load without substantial displacement. It demonstrates a payload capacity exceeding 4kg and rapid action capabilities, such as lifting a 2kg dumbbell at a speed of 0.74Hz and striking a ping-pong ball at an end-effector speed of 3.2 m/s. This research underscores that a detailed anatomical study can address existing robotic design obstacles, optimize performance and anthropomorphic resemblance, and reaffirm traditional anatomical principles.

翻译：本文阐述了创新仿生机器人前臂及肘关节的设计方案与验证过程，该设计精准模拟人体骨骼与韧带系统的复杂生物力学特征。传统机器人模型常低估软组织的关键作用，导致在紧凑性、安全性、稳定性与运动范围之间存在权衡。相比之下，本研究提出对生物关节（包括骨骼、软骨、韧带和肌腱）进行整体复现，最终构建出仿生机器人。研究重点揭示了人体前臂的紧凑稳定结构源于三骨框架与多样软组织的协同作用。研究方法包括对人体解剖结构的详尽分析，随后从理论层面探究软组织对原型稳定性的贡献。评估结果显示，机器人关节的运动范围与人体关节呈现出显著相似性：机器人肘关节实现了生物肘关节98.8%的运动范围，具备11.25牛米（伸展）与24牛米（屈曲）的高扭矩能力；机器人前臂则达到人体前臂58.6%的旋转范围，可产生14牛米（旋前）与7.8牛米（旋后）的显著输出扭矩。此外，原型系统展现出卓越的承重能力：可承受5kg哑铃负载而无明显位移，有效载荷超过4kg，并具备快速动作性能——例如以0.74Hz频率举升2kg哑铃，末端执行器击打乒乓球的速率达3.2米/秒。本研究证实，详尽的解剖学分析既能解决现有机器人设计难题，优化性能与拟人化相似度，又能重新验证传统解剖学原理。