Structure Design And Analysis Of Kinematics Of An Upperlimbed 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.

作者: Zhiming Wang Zhenglong Cai Lizheng Cui Changfu Pang

作者单位: School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China

会议类型: 国际会议

会议名称: 2018 2nd International Conference on Electronic Information Technology and Computer Engineering (EITCE 2018)(2018第二届电子信息技术与计算机工程国际会议)(EITCE2018)

会议地点: 上海

会议语种:英文

页码: 1-4

在线出版日期: 2018-10-12（万方平台首次上网日期，不代表论文的发表时间）