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中文摘要：
根据人体肩关节的运动生理特点和康复机理,将三转动并联机构运用于人体球窝肩关节的康复训练,设计了一种单输入三转动输出并联式肩关节康复训练机构;通过分析该机构的拓扑结构特性,计算出了该机构的耦合度为零,因此,可以直接推导出其位置正逆解析解,而无需复杂的代数消元推导计算;在ADAMS环境下进行了运动仿真,仿真结果证实了设计的可行性;应用UGNX软件设计了该肩关节的康复训练虚拟样机,为实体样机的设计与研制提供了参考。
英文摘要：
According to the physiological characteristics and rehabilitation mechanism of human shoulder,a three--rotation parallel mechanism used in rehabilitation training of human ball--and-- socket shoulder joint was proposed, and a single--input and three--rotation output parallel shoulder rehabilitation training device was designed. Through the analysis of topological structure of the mech- anism, its coupling degree was calculated to be zero, so its forward and inverse displacement solution was directly deduced, without the needs for complex algebraic elimination derivation calculation. The motion simulation was finished by ADAMS and the feasibility of the design was confirmed by its sim- ulation results. Finally, the rehabilitation training virtual prototype was designed by UGNX soft- ware, which laid a foundation for the design and manufacture of the prototype.
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