Study On Kinematics & Dynamics Of A Five-egree-of-freedom Bionic Mechanism For The Upper Limb

According to the upper limb structure and the study on literatures which described to measure the motion of the upper limb performing the tasks of everyday living, a seven-degree-of-freedom kinetic model of the upper limb has been necessarily accepted and rejected, this paper provides a five-degree-of-freedom kinetic model of the upper limb bionic mechanism. The advantages of the kinetic model are fewer dgrees of freedom, the lower complexity and cost. To investigate the motion of the upper limb carrying out activities of daily living, we have measured seven joint rotations. In the paper ,we resolve the daily living tasks to twenty-six basic ones. We difinite its posture when the human arm move between the end points of the tasks. The results of this experiment are convergence. On the bases of the experiment results, the paper provides the kinematic analysis of the upper limb and the trminal positions and postures of the upper limb carrying out the basic tasks are caculated.We solve the inverse kinematic problem in the bionic mechanism and the famula of the mechanism joint velocities and accelarations are deduced. Finally we analyse the statics and dynamics of the mechanism and get the expressions of driving forces and driving moments of all joints.