What's the best way to prevent canine arthritis?

I have a 6 year old female shepard mix & she also has some rotweiler in her too. Both breed are very suseptible to arthritis, so I'm worried about her getting arthritis in the future. I take her for daily walks and to the dog park occasionally (usually weekends) so she can run around with our other 1 year old pup. She also swims a lot in the summer. So what can I do?