Structure Design And Analysis Of Kinematics Of An Upper-limbed Rehabilitation Robot

摘要

According to the physiological structure of human upper limb, a 5-DOF upper-limbed rehabilitation robot is designed in this paper. Based on the software of Pro/E, the robot model is established. Based on the theory of robot coordinate transformation, the equations of motion of robot are established by the method of D-H. Three dimensional model of the rehabilitation robot is imported into the software of ADAMS for the kinematics analysis and simulation. The obtained simulation position curves are consistent with the theoretical position curves, verifying the correctness of the theoretical derivation. The result of the simulation proves the correctness of the kinematics equation. These studies provide an important basis for the realization of mechanism control.