In order to improve the flexibility and safety of the bionic robotic arm during human-robot interaction

a seven-degree-of-freedom tendon-driven bionic robotic arm design method is proposed. Based on studying the biological bionic mechanism of human upper limbs

the tendon-like drive mechanism

tension amplification mechanism and series-parallel hybrid wrist mechanism are designed to achieve the modular design of shoulder joint

flexible tension amplification of elbow joint and high dexterity movement of wrist joint. To solve the problem of tension drop during the movement of the rope drive mechanism

a passive motion rope tensioning mechanism design method is proposed to achieve rapid tensioning of the rope during the movement to achieve constant drive force output and ensure the accuracy of the end movement of the robotic arm. In addition

the degree of freedom of the wrist joint 3-UU parallel mechanism is analyzed based on spiral theory to verify the range of joint motion and the feasibility of spherical pure roll motion realization. A ten-axis coupling model of the robotic arm is established

a robotic arm forward and reverse kinematic algorithm is derived

and the correctness of the algorithm is verified through simulation. The working space of the robotic arm is analyzed using the Monte Carlo method. This study provides a theoretical basis for the development and research of tendon-driven bionic robotic arm.