Kinematics Analysis of Exoskeletons Rehabilitation Robot Based on ADAMS

Mei Li Yu; Ji Rong Wang; Jun Li; Wei Cui; Da Li

doi:10.4028/www.scientific.net/AMR.479-481.2333

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Formulating an Invariant Manipulability Index of Gough-Stewart Platform
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Analysis on Velocity Performance of Planar 3-DOF Parallel Manipulator with Actuation Redundancy
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Kinematics Analysis of Exoskeletons Rehabilitation Robot Based on ADAMS
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The Ball Screw Installation Position Parameter Decisions and Simulation
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Twin-Tracked Robot Obstacle Three-Dimensional Modeling and Simulation
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 479-481Kinematics Analysis of Exoskeletons Rehabilitation...

Kinematics Analysis of Exoskeletons Rehabilitation Robot Based on ADAMS

Abstract:

In this paper, the hand movements of exoskeletons rehabilitation robot are analyzed from a practical point. According to the hand functions and its exercise restraints, the analysis includes: (1) a modular design of rehabilitation robot is finished; (2) positive kinematics equations of the manipulator position are calculated; (3) a simulation model of exoskeletons rehabilitation robot which can grab a cup is set up. Based on ADAMS, the model’s kinematics simulation is analyzed. The position, speed and acceleration of a manipulator at a certain moment can be got and the simulation curves of the lord joint variables rotation angles can also be output accurately. The exoskeletons rehabilitation robots scheme designs and the movement of the structure analysis can be verified reasonable and feasible. These may provide theoretical foundation for the future study.

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Periodical:

Advanced Materials Research (Volumes 479-481)

Pages:

2333-2338

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.479-481.2333

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Online since:

February 2012

Authors:

Mei Li Yu, Ji Rong Wang, Jun Li, Wei Cui, Da Li

Keywords:

Adam, Exoskeletons Rehabilitation Robot, Kinematic Simulation, Kinematics Analysis

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References

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