In this paper, the hand movements of exoskeletons rehabilitation robot are analyzed from a practical point. According to the hand functions and its exercise restraints, the analysis includes: (1) a modular design of rehabilitation robot is finished; (2) positive kinematics equations of the manipulator position are calculated; (3) a simulation model of exoskeletons rehabilitation robot which can grab a cup is set up. Based on ADAMS, the model’s kinematics simulation is analyzed. The position, speed and acceleration of a manipulator at a certain moment can be got and the simulation curves of the lord joint variables rotation angles can also be output accurately. The exoskeletons rehabilitation robots scheme designs and the movement of the structure analysis can be verified reasonable and feasible. These may provide theoretical foundation for the future study.
Kinematics Analysis of Exoskeletons Rehabilitation Robot Based on ADAMS
Advanced Materials Research ; 479-481 ; 2333-2338
2012-02-27
6 pages
Article (Journal)
Electronic Resource
English
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