结合临床康复医学理论,针对康复机械臂特点,文章根据康复需要设计出一种六自由度康复机械手臂的灵巧机构。通过分析肩关节处三自由度串联分布的六种情况,结合肩关节运动参数,借助圆弧导轨构成的虚轴实现肩关节球副运动功能的设计,给出了肩关节处采用PRR和RRP的两种串联三自由度组合设计。最后,对文中提出的PRR模型通过运动学仿真及实验样机验证了机构运动功能的可行性。 Combined with the theory of clinical rehabilitation medicine, according to the characteristics of rehabilitation manipulator, the article devised a kind of dexterous mechanism of rehabilitation robot with six degrees of freedom according to rehabilitation needs. By analyzing six kinds of situations of three degrees of freedom tandem joints at the shoulder joints and combining with the parameters of the shoulder joints and the virtual axis of the circular guide rail to realize the design of the ball and accessory function of the shoulder joints, the PRR and RRP Two series of three degrees of freedom combined design. Finally, the PRR model presented in this paper verifies the feasibility of the mechanism of motor function through kinematics simulation and experimental prototype.