并联式球面副肩关节康复机构的设计与分析

Design and analysis of parallel spherical shoulder joint rehabilitation mechanism

根据人体肩关节的运动生理特点和康复机理,设计了一种满足3转动自由度的并联式球面副肩关节康复机构。首先,对该机构进行了运动学分析,并通过ADAMS软件进行了运动仿真,验证了运动学分析的正确性。其次,对该机构的工作空间进行了分析,绘制了其位置及姿态工作空间的图形。最后,通过OpenSim软件建立了人体肩关节肌骨穿戴模型,进行了生物力学仿真,通过对所获得的数据进行分析,验证该机构与人体上肢的相容性。

According to the physiological characteristics and rehabilitation mechanism of human shoulder joint,a parallel spherical shoulder joint rehabilitation mechanism with three rotational degrees of freedom is designed.Firstly,the kinematics analysis of the mechanism is carried out,and the motion simulation is carried out by ADAMS software to verify the correctness of the kinematics analysis.Secondly,the workspace of the mechanism is analyzed,and the graphics of its position and attitude workspace are drawn.Finally,the human shoulder joint musculoskeletal wear model was established by OpenSim software,and the biomechanical simulation was carried out.The compatibility between the mechanism and the human upper limb was verified by analyzing the obtained data.