Structure Design and Analysis of Kinematics of a 6-DOF Upper-Limbed Rehabilitation Robot

Dian Feng Cao; Qi Zhi Yang; Jun Peng Song; Jin Hai Zhao

doi:10.4028/www.scientific.net/AMM.433-435.125

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 433-435Structure Design and Analysis of Kinematics of a...

Structure Design and Analysis of Kinematics of a 6-DOF Upper-Limbed Rehabilitation Robot

Abstract:

In order to solve the problems that the functions of exiting upper-limbed rehabilitation robot are single and the structure is complicated, a 6-DOF exoskeleton upper-limbed rehabilitation robot is put forward. The kinematics model of the rehabilitation robot is established and kinematics positive and inverse solutions are solved using D-H transformation method. Three dimensional model of the rehabilitation robot is created by Pro/E and imported into ADAMS/view for the kinematics simulation by Mechanism/Pro. The gotten simulation results of the simulation verify the correctness of theoretical derivation and prove the smooth movement Characteristics of the scheme.

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Periodical:

Applied Mechanics and Materials (Volumes 433-435)

Pages:

125-129

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.433-435.125

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Online since:

October 2013

Authors:

Dian Feng Cao, Qi Zhi Yang, Jun Peng Song, Jin Hai Zhao

Keywords:

Exoskeleton, Kinematics, Rehabilitation Robot, Simulation

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