Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis

Abstract:

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A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.

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Periodical:

Edited by:

Honghua Tan

Pages:

293-298

DOI:

10.4028/www.scientific.net/AMM.29-32.293

Citation:

Z. Lan et al., "Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis", Applied Mechanics and Materials, Vols. 29-32, pp. 293-298, 2010

Online since:

August 2010

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$38.00

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