Kinematics Analysis and Simulation of Upper Limb Rehabilitation Robot

De Dong Tang; Ya Qi Zhang; Yi Liu

doi:10.4028/www.scientific.net/AMM.701-702.711

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 701-702Kinematics Analysis and Simulation of Upper Limb...

Kinematics Analysis and Simulation of Upper Limb Rehabilitation Robot

Abstract:

In order to solve the deficiency of existing rehabilitation robot a novel upper limb rehabilitation robot structure is designed. Kinematics model is established by the method of Denavit-Hartenberg. The robot is driven by pneumatic muscle. Simulation on the robot movement is carried out by the simmechanics of matlab. When the joint is driven, the angle、angular velocity and working space of robot are all obtained. Feasibility of the robot design is confirmed by the simulation results.

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Periodical:

Applied Mechanics and Materials (Volumes 701-702)

Pages:

711-714

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.701-702.711

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Online since:

December 2014

Authors:

De Dong Tang*, Ya Qi Zhang, Yi Liu

Keywords:

Kinematics Model, Rehabilitation Robot, Simulation Analysis, Upper Limb

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* - Corresponding Author

References

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