An anthropomorphic shoulder joint prosthesis based on amplification mechanism

Abstract

The present application belongs to the technical field of artificial limb and rehabilitation engineering, and relates to a humanoid shoulder joint prosthesis device based on amplification mechanism, which comprises a driving device, a transmission device, a three-degree-of-freedom spherical motion generation device and a motion space amplification device. The driving device adopts three groups of motor modules which are parallel along the axial direction and symmetrically distributed on the end face, to realize independent driving of three active branch chains; the transmission device reliably transmits the motor output to the spherical motion mechanism through multi-stage transmission shaft and gear structure; the three-degree-of-freedom spherical motion generation device is composed of an amplification support platform, a moving platform and three branch chains containing active rods and driven rods; the motion space amplification device is composed of two groups of 5R mechanisms, and is used for realizing multiple amplification of the joint motion space. The overall structure of the device is symmetrical and compact, has high stability and adjustable motion space, can realize multi-degree-of-freedom large-range motion of the humanoid shoulder joint, and is suitable for upper limb prosthesis wearing, rehabilitation training and robot assisted operation scenes.

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