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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