Workspace analysis and kinematics simulation of 6-DOF upper limb exoskeleton robot

Abstract

In this paper, the outer non-humanoid robot 6-DOF upper limb bone as the research object, the establishment of a forward kinematics model of the robot be modeled, using the DH parameter method in Creo software to get the robot based on Monte Carlo Method Point cloud image of workspace. Based on ADAMS, the dynamic of the joint driving torque is solved, and the torque change curve of each joint during the vertical lifting of the arm is obtained. The simulation results show that the working space at the end of the six-degree-of-freedom upper-limb exoskeleton robot model can meet the working requirements, and the joint torque is relatively small, which lays the foundation for the subsequent trajectory planning and drive device design of the upper-limb exoskeleton robot.