CN113043318A - Glenohumeral joint bionic mechanism and glenohumeral joint angle identification method - Google Patents
Glenohumeral joint bionic mechanism and glenohumeral joint angle identification method Download PDFInfo
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- CN113043318A CN113043318A CN201911367135.0A CN201911367135A CN113043318A CN 113043318 A CN113043318 A CN 113043318A CN 201911367135 A CN201911367135 A CN 201911367135A CN 113043318 A CN113043318 A CN 113043318A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 76
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 57
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000003592 biomimetic effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 4
- 229910003460 diamond Inorganic materials 0.000 claims description 3
- 239000010432 diamond Substances 0.000 claims description 3
- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical compound Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention relates to a glenohumeral joint bionic mechanism and a glenohumeral joint angle identification method, wherein the mechanism comprises a shoulder front-extending rear-extending fixing frame, an abduction-adduction fixing frame and two spherical rhombus mechanisms positioned between the shoulder front-extending rear-extending fixing frame and the abduction-adduction fixing frame, four edges of each spherical rhombus mechanism are arc-shaped, adjacent edges are rotationally connected through a rotating shaft, the rotating shaft at one end point of one spherical rhombus mechanism is arranged on the shoulder front-extending rear-extending fixing frame, the opposite end point and one end point of the other spherical rhombus mechanism share one rotating shaft, and the rotating shaft at the opposite end point on the other spherical rhombus mechanism is arranged on the abduction-adduction fixing frame; the shoulder front-extending and back-contracting fixing frame is connected with the big arm of the human body, and the abduction and adduction fixing frame is connected with the back of the human body. The spherical rhombus mechanism is distributed outside the glenohumeral joint of the human body, so that the interference of the outer skeleton and the head of the human body in large-range abduction motion can be effectively avoided, and the flexibility of shoulder motion is greatly improved.
Description
Technical Field
The invention belongs to the fields of exoskeleton robot technology, master-slave teleoperation, rehabilitation detection and the like, and particularly relates to a glenohumeral joint bionic mechanism and a glenohumeral joint angle identification method, which are mainly used for bionic operations such as human body shoulder glenohumeral joint motion information acquisition and remote reproduction.
Background
With the rapid development of industrial technology, the exoskeleton robot has higher flexibility, adaptability and active obstacle avoidance capability, and can actively participate in controlling a remote mechanical arm to smoothly complete complex operation tasks and master-slave teleoperation operation methods by operating personnel under some special requirements and environments (such as non-structural and diversified environments of nuclear radiation, fire, anti-terrorist operation sites and the like). However, in the existing exoskeleton-type master-slave teleoperation system, on one hand, the motion of the glenohumeral joint of a human body is reproduced by adopting a simple structural layout mode of vertically and orthogonally intersecting three axes on the exoskeleton shoulder, and the biggest defect of the layout mode is that an internal rotation and external rotation joint is arranged above the glenohumeral joint, so that the extending motion range (less than or equal to 45 ℃) of an arm of an operator is limited, man-machine collision is caused by overrun, and the flexibility and reliability of the shoulder motion of an exoskeleton-type teleoperation master hand are seriously influenced; on the other hand, the shoulder size is too big due to the vertical and orthogonal structure layout mode of the three axes, the compatibility of the shoulder profile is poor, and the wearing comfort is affected.
Disclosure of Invention
The invention aims to solve the problems of poor motion compatibility and profile compatibility of a glenohumeral joint of a shoulder of a main hand of the existing exoskeleton teleoperation and the like, and provides a glenohumeral joint bionic mechanism and a glenohumeral joint angle identification method.
The purpose of the invention is realized by the following technical scheme:
a glenohumeral joint bionic mechanism comprises a shoulder front stretching and rear retracting fixing frame, an abduction and adduction fixing frame and two spherical rhombus mechanisms positioned between the shoulder front stretching and rear retracting fixing frame and the abduction and adduction fixing frame, wherein four sides of each spherical rhombus mechanism are arc-shaped, the adjacent sides are rotatably connected through a rotating shaft, the rotating shaft at one end point of one spherical rhombus mechanism is arranged on the shoulder front stretching and rear retracting fixing frame, the opposite end point and one end point of the other spherical rhombus mechanism share one rotating shaft, and the rotating shaft at the opposite end point of the other spherical rhombus mechanism is arranged on the abduction and adduction fixing frame; the shoulder front-extending and back-contracting fixing frame is connected to the large arm of the human body, and the abduction and adduction fixing frame is connected with the back of the human body.
The two spherical rhombus mechanisms comprise a first shoulder short rod, a second shoulder short rod, a third shoulder short rod, a fourth shoulder short rod, a first shoulder long rod and a second shoulder long rod, the first shoulder long rod and the second shoulder long rod are in an X shape, and the middle of the first shoulder long rod and the second shoulder long rod are rotatably connected through a shoulder central shaft; one end of the first shoulder short rod is connected with one end of the first shoulder long rod through a first shoulder shared rotating shaft, the other end of the first shoulder short rod is connected with one end of the third shoulder short rod through a forward-extending and backward-contracting rotating shaft, the other end of the third shoulder short rod is connected with one end of the second shoulder long rod through a third shoulder shared rotating shaft, one end of the second shoulder short rod is connected with the other end of the first shoulder long rod through a second shoulder shared rotating shaft, the other end of the second shoulder short rod is connected with one end of a fourth shoulder short rod through an outward-extending and inward-contracting rotating shaft, and the other end of the fourth shoulder short rod is connected with the other end of the second shoulder long rod through a fourth shoulder shared rotating shaft; the first shoulder long rod and the second shoulder long rod are shared rods of two spherical rhombus mechanisms, and the front stretching and rear contracting rotating shaft and the abduction and adduction rotating shaft are respectively arranged on the shoulder front stretching and rear contracting fixing frame and the abduction and adduction fixing frame.
Encoders for recording relative angles of the connecting rods of the spherical rhombus mechanism in the motion process are respectively arranged on the shoulder central shaft, the front stretching and rear retracting rotating shaft and the outer stretching and inner retracting rotating shaft.
The radian of the first shoulder long rod and the second shoulder long rod is equal, the radian of the first shoulder short rod, the second shoulder short rod, the third shoulder short rod and the fourth shoulder short rod is equal, and the radian of the first shoulder long rod and the second shoulder long rod is twice that of the first shoulder short rod, the second shoulder short rod, the third shoulder short rod and the fourth shoulder short rod.
The curvature radius of the first shoulder long rod is the same as that of the third shoulder short rod and that of the fourth shoulder short rod, and the curvature radius of the second shoulder long rod is the same as that of the first shoulder short rod and that of the second shoulder short rod.
The rotating axes of the first shoulder shared rotating shaft, the second shoulder shared rotating shaft, the third shoulder shared rotating shaft, the fourth shoulder shared rotating shaft, the shoulder central shaft, the front extension and back retraction rotating shaft and the abduction and adduction rotating shaft (K) are intersected at the center of the sphere.
After the bionic menbrachial joint mechanism is worn, the rotary axis of the front stretching and back stretching rotary shaft is superposed with the rotary axis of the front stretching and back stretching joint of the glenohumeral joint of a human body, the rotary axis of the abduction and adduction rotary shaft is superposed with the rotary axis of the front stretching and back stretching joint of the human body, the virtual rotary axis of the bionic glenohumeral joint mechanism in the internal rotation and external rotation process is superposed with the internal rotation and external rotation joint of the glenohumeral joint of the human body, the rotary axis of the front stretching and back stretching rotary shaft, the rotary axis of the abduction and adduction rotary shaft and the virtual rotary axis are mutually and vertically intersected at a spherical center in an initial state, and the spherical center (O.
And the shoulder central shaft, the front stretching and rear retracting rotating shaft and the abduction and adduction rotating shaft are respectively provided with an initial positioning reference for determining the initial posture of the glenohumeral joint bionic mechanism.
A glenohumeral joint angle identification method, comprising: wearing the glenohumeral joint bionic mechanism according to claim 2 on a human body glenohumeral joint, mounting a first encoder on the abduction-adduction rotating shaft, mounting a second encoder on a shoulder central shaft, and mounting a third encoder on the front extension-and-rear retraction rotating shaft; angle phi recorded by the second encoder2Is an included angle between the long rod of the first shoulder part and the long rod of the second shoulder part, and the angle phi recorded by the first encoder1The sum of half of the angle detected by the second encoder and the overall abduction-adduction angle of the spherical rhombus mechanism, and the angle phi recorded by the third encoder3The sum of half of the detection angle of the second encoder and the integral forward-extending and backward-retracting angle of the spherical rhombic mechanism; according to the radian alpha of the shoulder short rod and the shoulder long rod in the spherical diamond mechanism, the ballThe symmetry of the surface diamond mechanism and the spherical triangle cosine theorem obtain the joint angle:
the internal rotation and external rotation angles of the shoulder are
The abduction and adduction angles of the shoulder are
The angle of the shoulder part extending forwards and retracting backwards is
The invention has the advantages and positive effects that:
1. the bionic glenohumeral joint based on the spherical rhombus mechanism is innovatively designed, the spherical rhombus mechanism is distributed on the outer side of the human body glenohumeral joint, the interference of an outer skeleton and the head of a human body in large-range abduction motion can be effectively avoided, high motion compatibility is achieved, and the flexibility of shoulder motion is greatly improved.
2. The glenohumeral joint bionic mechanism is of a spherical wrapping structure, is simple and compact in structure, light in weight, high in compatibility with the external contour of the human body glenohumeral joint, and improves wearing comfort.
3. The joint angle identification method can acquire the motion data of the glenohumeral joint of the human body in real time by detecting the motion included angle of each component, and is used for teleoperation task and joint motion capability detection.
Drawings
FIG. 1 is a schematic front view of a glenohumeral joint biomimetic mechanism of the present invention;
FIG. 2 is a schematic structural view of the back of the glenohumeral joint biomimetic mechanism of the present invention;
wherein: a1 is a first shoulder short rod, A2 is a second shoulder short rod, B1 is a third shoulder short rod, B2 is a fourth shoulder short rod, C is a first shoulder long rod, D is a second shoulder long rod, E is a shoulder front-extending rear-contracting fixing frame, F is an extending inner-contracting fixing frame, G1 is a first shoulder common rotating shaft, G2 is a second shoulder common rotating shaft, G3 is a third shoulder common rotating shaft, G4 is a fourth shoulder common rotating shaft, H is a shoulder central shaft, J is an extending front-contracting rear rotating shaft, J1 is a front-extending rear-contracting rotating shaft rotating axis, K is an extending inner-contracting rotating shaft, K1 is an extending inner-contracting rotating shaft rotating axis, L1 is a virtual rotating axis, M1 is a first shoulder, M2 is a second encoder, M3 is a third encoder, N is an initial positioning encoder reference, and O is a sphere center.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the glenohumeral joint bionic mechanism of the invention comprises a shoulder anteroposterior telescopic fixing frame E, an abduction-adduction fixing frame F and two spherical rhombus mechanisms positioned between the shoulder anteroposterior telescopic fixing frame E and the abduction-adduction fixing frame F, wherein the two spherical rhombus mechanisms are arranged side by side, four edges of each spherical rhombus mechanism are arc-shaped, adjacent edges are rotationally connected through a rotating shaft, the rotating shaft at one end point of one spherical rhombus mechanism is arranged on the shoulder anteroposterior telescopic fixing frame E, the opposite end point and one end point of the other spherical rhombus mechanism share one rotating shaft, and the rotating shaft at the opposite end point of the other spherical rhombus mechanism is arranged on the abduction-adduction fixing frame F; the shoulder forward-extending and backward-contracting fixing frame E is connected with the large arm of the human body, and the abduction-adduction fixing frame F is connected with the back of the human body.
The two spherical rhombus mechanisms of the embodiment comprise a first shoulder short rod A1, a second shoulder short rod A2, a third shoulder short rod B1, a fourth shoulder short rod B2, a first shoulder long rod C and a second shoulder long rod D, wherein the four shoulder short rods and the two shoulder long rods are arc-shaped rods and are bent towards the same side; the first shoulder long rod C and the second shoulder long rod D are in an X shape and are rotatably connected through a shoulder central shaft H; one end of the first short shoulder rod a1 is connected with one end of the first long shoulder rod C through a first common shoulder rotating shaft G1, the other end of the first short shoulder rod a1 is connected with one end of the third short shoulder rod B1 through a forward-extending and backward-contracting rotating shaft J, the other end of the third short shoulder rod B1 is connected with one end of the second long shoulder rod D through a third common shoulder rotating shaft G3, one end of the second short shoulder rod a2 is connected with the other end of the first long shoulder rod C through a second common shoulder rotating shaft G2, the other end of the second short shoulder rod a2 is connected with one end of the fourth short shoulder rod B2 through an outward-extending and inward-contracting rotating shaft K, and the other end of the fourth short shoulder rod B2 is connected with the other end of the second long shoulder rod D through a fourth common shoulder rotating shaft G4; the first shoulder long rod C and the second shoulder long rod D are used as common rods of the two spherical rhombus mechanisms, the other four shoulder short rods and the shoulder long rods are connected in the same mode, namely, the rotating shafts are rotatably connected, and each rotating shaft is connected with the shoulder short rods or the shoulder long rods through bearings; the front stretching and rear contracting rotating shaft J and the abduction and adduction rotating shaft K are respectively arranged on the shoulder front stretching and rear contracting fixing frame E and the abduction and adduction fixing frame F. In the embodiment, a first encoder M1 is arranged on an outer expansion and contraction rotating shaft K, a second encoder M2 is arranged on a shoulder central shaft H, and a third encoder M3 is arranged on a front expansion and rear contraction rotating shaft J; the shoulder central axis H, the forward-extending and backward-retracting rotating shaft J and the abduction-adduction rotating shaft K are respectively provided with an initial positioning reference N for determining an initial posture of the glenohumeral joint bionic mechanism, and the initial positioning reference N of the embodiment adopts a screw to be matched with a screw hole to determine an initial state of the glenohumeral joint bionic mechanism.
The radian of the long first shoulder rod C and the second shoulder rod D in this embodiment are equal, the radians of the short first shoulder rod a1, the short second shoulder rod a2, the short third shoulder rod B1 and the short fourth shoulder rod B2 are equal, and the radians of the long first shoulder rod C and the long second shoulder rod D are twice the radians of the short first shoulder rod a1, the short second shoulder rod a2, the short third shoulder rod B1 and the short fourth shoulder rod B2. The first shoulder long rod C has the same radius of curvature as the third shoulder short rod B1 and the fourth shoulder short rod B2, and the second shoulder long rod D has the same radius of curvature as the first shoulder short rod A1 and the second shoulder short rod A2.
In the present embodiment, the rotation axes of the first shoulder common rotating shaft G1, the second shoulder common rotating shaft G2, the third shoulder common rotating shaft G3, the fourth shoulder common rotating shaft G4, the shoulder central axis H, the forward-extending and backward-extending rotating shaft J, and the outward-extending and inward-extending rotating shaft K intersect at the sphere center O. After the bionic menbrachial joint mechanism is worn, a front stretching and back stretching rotating shaft rotary axis J1 of a front stretching and back stretching rotating shaft J coincides with a front stretching and back stretching joint axis of a human body glenohumeral joint, an abduction and adduction rotating shaft rotary axis K1 of an abduction and adduction rotating shaft K coincides with a front stretching and back stretching joint axis of the human body, a virtual rotary axis L1 of the bionic glenohumeral joint bionic mechanism in the internal rotation and external rotation process coincides with an internal rotation and external rotation joint axis of the human body glenohumeral joint, and the front stretching and back stretching rotating shaft rotary axis J1, the abduction and adduction rotating shaft rotary axis K1 and the virtual rotary axis L1 are mutually and perpendicularly intersected with a spherical center O in an initial state, and the spherical center O is always coincident with the motion center of the human body glenohumeral. The glenohumeral joint bionic mechanism of the embodiment has a spherical surface wrapping structure and is high in compatibility with the external contour of the human body glenohumeral joint; meanwhile, the spherical rhombic mechanisms are distributed on the outer side of the glenohumeral joint of the human body, so that man-machine interference in large-range abduction and adduction motions of the traditional exoskeleton can be effectively avoided.
The glenohumeral joint angle identification method of the invention comprises the following steps:
the bionic mechanism of the upper glenohumeral joint is worn at the position of the glenohumeral joint of a human body, a first encoder M1 is installed on an abduction-adduction rotating shaft K, a second encoder M2 is installed on a shoulder central shaft H, and a third encoder M3 is installed on a front-extension-rear-contraction rotating shaft J; the angle phi recorded by the second encoder M22The angle phi recorded by the first encoder M1 is the included angle between the long rod C of the first shoulder and the long rod D of the second shoulder1Half of the angle is detected for the second encoder M2 (i.e., the second encoder M2 is detected
) The sum of the abduction and adduction angles of the spherical rhombus mechanism and the angle phi recorded by the third encoder M33Half of the angle is detected for the second encoder M2 (i.e., the second encoder M2 is detected
) The sum of the angle of the spherical rhombus mechanism extending forwards and retracting backwards; the joint angle recognition algorithm obtained according to the radian alpha of the shoulder short rod and the shoulder long rod in the spherical rhombus mechanism, the symmetry of the spherical rhombus mechanism and the spherical trigonometry cosine law comprises the following steps:
the internal rotation and external rotation angles of the shoulder are
The abduction and adduction angles of the shoulder are
The angle of the shoulder part extending forwards and retracting backwards is
The relative angles of the short shoulder rod and the long shoulder rod in the spherical rhombus mechanism in the motion process are recorded in real time, and the motion data of the glenohumeral joint of the human body can be obtained in real time by utilizing a joint angle recognition algorithm.
Claims (9)
1. A glenohumeral joint bionic mechanism is characterized in that: the device comprises a shoulder front-stretching rear-stretching fixed frame (E), an abduction-adduction fixed frame (F) and two spherical rhombus mechanisms positioned between the shoulder front-stretching rear-stretching fixed frame (E) and the abduction-adduction fixed frame (F), wherein four sides of each spherical rhombus mechanism are arc-shaped, and the adjacent sides are rotationally connected through a rotating shaft; the shoulder forward-extending and backward-contracting fixing frame (E) is connected to the large arm of the human body, and the abduction-adduction fixing frame (F) is connected with the back of the human body.
2. The glenohumeral joint biomimetic mechanism as recited in claim 1, wherein: the two spherical rhombus mechanisms comprise a first shoulder short rod (A1), a second shoulder short rod (A2), a third shoulder short rod (B1), a fourth shoulder short rod (B2), a first shoulder long rod (C) and a second shoulder long rod (D), the first shoulder long rod (C) and the second shoulder long rod (D) are in an X shape, and the middle of the first shoulder long rod (C) and the second shoulder long rod (D) are rotatably connected through a shoulder central shaft (H); one end of the first shoulder short rod (A1) is connected with one end of the first shoulder long rod (C) through a first shoulder common rotating shaft (G1), the other end of the first shoulder short rod (A1) is connected with one end of the third shoulder short rod (B1) through a front-extending rear-retracting rotating shaft (J), the other end of the third short shoulder rod (B1) is connected with one end of the second long shoulder rod (D) through a third common shoulder rotating shaft (G3), one end of the second short shoulder rod (A2) is connected with the other end of the first long shoulder rod (C) through a second common shoulder rotating shaft (G2), the other end of the second shoulder short rod (A2) is connected with one end of a fourth shoulder short rod (B2) through an abduction-adduction rotating shaft (K), the other end of the fourth short shoulder rod (B2) is connected with the other end of the second long shoulder rod (D) through a fourth common shoulder rotating shaft (G4); the first shoulder long rod (C) and the second shoulder long rod (D) are shared rods of two spherical rhombus mechanisms, and the front extension and rear retraction rotating shaft (J) and the abduction and adduction rotating shaft (K) are respectively arranged on the shoulder front extension and rear retraction fixing frame (E) and the abduction and adduction fixing frame (F).
3. The glenohumeral joint biomimetic mechanism as recited in claim 2, wherein: encoders for recording relative angles of all connecting rods of the spherical rhombus mechanism in the motion process are respectively arranged on the shoulder central shaft (H), the forward-extending and backward-retracting rotating shaft (J) and the outward-extending and inward-retracting rotating shaft (K).
4. The glenohumeral joint biomimetic mechanism as recited in claim 2, wherein: the radian of first shoulder stock (C), second shoulder stock (D) is equal, and first shoulder quarter butt (A1), second shoulder quarter butt (A2), third shoulder quarter butt (B1) and fourth shoulder are equal from the radian of quarter butt (B2), and the radian of this first shoulder stock (C) is first shoulder quarter butt (A1), second shoulder quarter butt (A2), third shoulder quarter butt (B1) and fourth shoulder from the twice of quarter butt (B2) radian with second shoulder stock (D).
5. The glenohumeral joint biomimetic mechanism as recited in claim 2, wherein: the curvature radius of the first long shoulder rod (C) is the same as that of the third short shoulder rod (B1) and the fourth short shoulder rod (B2), and the curvature radius of the second long shoulder rod (D) is the same as that of the first short shoulder rod (A1) and the second short shoulder rod (A2).
6. The glenohumeral joint biomimetic mechanism as recited in claim 2, wherein: the revolution axes of the first shoulder shared rotating shaft (G1), the second shoulder shared rotating shaft (G2), the third shoulder shared rotating shaft (G3), the fourth shoulder shared rotating shaft (G4), the shoulder central shaft (H), the forward-extending and backward-retracting rotating shaft (J) and the outward-extending and inward-retracting rotating shaft (K) are intersected at the sphere center (O).
7. The glenohumeral joint biomimetic mechanism as recited in claim 6, wherein: after the bionic menbrachial joint mechanism is worn, a front stretching and rear stretching rotating shaft rotary axis (J1) of the front stretching and rear stretching rotating shaft (J) coincides with a front stretching and rear stretching joint axis of a human body glenohumeral joint, an abduction and adduction rotating shaft rotary axis (K1) of the abduction and adduction rotating shaft (K) coincides with a front stretching and rear stretching joint axis of the human body, a virtual rotary axis (L1) of the bionic menbrachial joint mechanism in an internal rotation and external rotation process coincides with an internal rotation and external rotation joint axis of the human body brachial joint, the front stretching and rear stretching rotating shaft rotary axis (J1), the abduction and adduction rotating shaft rotary axis (K1) and the virtual rotary axis (L1) are mutually and perpendicularly intersected at a ball center (O) in an initial state, and the ball center (O) always coincides with a motion center of the human body glenohumeral joint.
8. The glenohumeral joint biomimetic mechanism as recited in claim 2, wherein: and the shoulder central shaft (H), the forward-extending and backward-retracting rotating shaft (J) and the abduction-adduction rotating shaft (K) are respectively provided with an initial positioning reference (N) for determining the initial posture of the glenohumeral joint bionic mechanism.
9. A glenohumeral joint angle identification method is characterized in that: wearing the glenohumeral joint biomimetic mechanism of claim 2 on the human body at the glenohumeral joint, and mounting a first encoder (M1) on the abduction-adduction rotation shaft (K), a second encoder (M2) on the shoulder central axis (H), and a third encoder (M3) on the anteroposterior-postflexion rotation shaft (J); the angle phi recorded by the second encoder (M2)2The angle phi recorded by the first encoder (M1) is the included angle between the first shoulder long rod (C) and the second shoulder long rod (D)1The sum of half of the angle detected by the second encoder (M2) and the overall abduction and adduction angle of the spherical rhombus mechanism is the angle phi recorded by the third encoder (M3)3The sum of half of the detection angle of the second encoder (M2) and the integral forward-extending and backward-retracting angle of the spherical diamond mechanism; obtaining a joint angle according to the radian alpha of the shoulder short rod and the shoulder long rod in the spherical rhombus mechanism, the symmetry of the spherical rhombus mechanism and the spherical trigonometry cosine law:
the internal rotation and external rotation angles of the shoulder are
The abduction and adduction angles of the shoulder are
The angle of the shoulder part extending forwards and retracting backwards is
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