A Quasi limbs and torso humanoid robot mechanism

The present invention discloses a mechanism for the limbs and trunk anthropomorphic robot, comprising a main trunk, left arm, right arm, left leg and right leg, the left and right arms are connected by a top base on the old main trunk, main the bottom surface of the trunk of the third movable platform connected to the top surface of the third movable platform connected to the body portion of the base, the bottom surface of the body portion of the base connecting left and right legs through the seventh and eighth kinematic chain kinematic chain; the left arm, right arm, left leg and right leg are proposed by the serial-parallel member formed of the same person manipulator; manipulator structure according to the present invention is simple and compact structure, low production cost; and series-parallel flexible anthropomorphic robot arm movement, carrying capacity, and inertia, action and more anthropomorphic robot attitude, good stability, good processing and assembly processes.