MATEC Web Conf.
Volume 232, 20182018 2nd International Conference on Electronic Information Technology and Computer Engineering (EITCE 2018)
|Number of page(s)||4|
|Section||3D Images Reconstruction and Virtual System|
|Published online||19 November 2018|
Structure Design And Analysis Of Kinematics Of An Upper-limbed Rehabilitation Robot
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China
* Corresponding author: aZhenglong Cai:firstname.lastname@example.org
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.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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