Design And Simulation Of The 3DOF Wearable Up-limb Rehabilitant Robot

The exoskeleton technology is one of embranchments of the robot technology. It is an external structural mechanism whose joint correspond to those of the human body. The exoskeleton allows direct transfer of mechanical power and information signals. So it's very appropriate to use for rehabilitation of those movement functional disorder persons.In this paper, from a practical point of view on human upper limb movement principle is analyzed, according to the structural characteristics of the human body and upper wearable exoskeletons of the functional requirements, design of a 3 DOF wearable robot the structure of upper extremity rehabilitation programme; At same time, the kinematics analysis was conducted, coordinate trans-formation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced, the velocity Jacobian matrix was constructed . Through the robot Jacobian matrix can be in robot joint speed is known, the end of the robot in space velocity;The working space of the robot was analyzed and the axes section of practical working space was drawn in the Graphical method. Through the design software of Pro/Engineer, we set up the solid model of the robot, and carry on accurate establishment and assembly to the main part of the robot. In order to analyse kinematics and dynamics of the robot, utilize M/Pro to guide the virtual prototype of the robot into ADAMS software, and set up the simulation model of the movement so that we may do experiments to the robot, to obtain the practical work trace, has carried on the analysis to various joints angle and the angular speed, obtained the system and each component in the random time position, speed and acceleration simulation curve.We also can compare the experiment data with the theoretic stable region and confirm that the robot has good stability, and provide theoretic and data information for further work.