The Research On Human Upper Limb Kinetic Analysis And Simulation Based On MATLAB

In general, people feel like the upper limb model of human, which provides seven DOF (Degree of Freedom), because the model provides more DOF and is more coincident to the function of human upper limb. But as adding one DOF means to add a suit of relative driving device, the complexity of the equipment would be geminated. Because what we should take into account is that the handicapped only need to handle the most basic activities in their everyday living, some necessary simplifications may be taken into the design of the biomechanical upper limb for the handicapped on the base of the seven-degree-of-freedom model. Then the model, which not only can help the handicapped complete the basic everyday activities, but also has fewer DOF and a more simple structure, can be available. In this paper a five-degree-of-freedom model of human upper limb, which can fulfill the basic everyday activities of human upper limb instead of the seven-degree-of-freedom model, was built with experimental testify and theoretic analysis. It predigested the machine of biomechanical upper limb and will favor to popularize and extend the application of biomechanical upper limb. At the same time the kinematics analysis, dynamics analysis and simulation of the five-degree-of-freedom upper limb model have been carried out in this paper using MATLAB.On the base of summarizing forty-five basic activities of upper limb in everyday living and decomposing, picking up and filtrating these activities, there were eight actions left, which were the items of the experiment. With the experimental results of the activities range of upper limb joints, a five-degree-of-freedom model, which can complete everyday activities instead of the seven-degree-of-freedom upper limb and satisfy the handicapped's needs for lowly costing, skillful and beautiful and being able to handle the basic everyday activities, has been set up.Using the skills of program mixing VC and MATLAB and engine transfer, a kinetic analysis program of the five-degree-of-freedom upper limb was set up. And the reasonable analysis was carried out. The consumers only need to input the structure and status parameters of the biomechanical upper limb. Then they can carry out the kinematic and dynamic analysis. Also they can get the positions, status and driving force of the joints and realize the simulation of upper limb.