| Rehabilitative robot is a new technology that has been developed rapidly in recent years, it is a new application of robot technology to medical field.The subject is a research of a kind of exoskeleton robot for upper limb rehabilitation whose joint correspond to those of the human body.The rehabilitative robot can simulate the rule of arm movement.It enables upper limb movement disorder patients recovered when is used together with a fixed upper limbs to drive patients do exercise.In the research of rehabilitation robot for upper limbs, kinematics model is essential.The paper does much research on rehabilitation robot kinematics system based on coordinate transformation theory,the forward kinematics model of this rehabilitation robot is established,and the kinematics equation inverse solution are deduced.Utilizing differential transformation method to get the Jacobin matrix,which indicates the differential relation between the robot terminal velocity and every joint’s angular velocity.By analyzing the structure and motion characteristics of the rehabilitation robot for upper limbs,which is simplified to a space three degrees of freedom mechanical arm. The generalized joint torque of three analytical solution is solved by lagrange equation and the results are cleaned up. The kinetics of rehabilitation robot for upper limbs is established,which is provided as a theoretical basis for controlling rehabilitation robot in the future.At last, by using SimMechanics toolbox in Matlab simulation software, motion simulation model of upper limb rehabilitation robot is established by actual robot parameters.By comparing the simulation data and theoretical data,the correctness of the establishment of the kinematic model is verified and for designing and planning for the trajectory of rehabilitation robot provides an intuitive and effective environment. |
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