부산대학교 도서관

In order to solve the disadvantages of the large size of the braced upper limb rehabilitation robot, a wearable upper limb exoskeleton robot was designed. Firstly, a 3D model of the robot was built using SOLIDWORKS based on the principle of modularity. According to the structural characteristics of the wearable upper exoskeleton robot, choose the driving mode of the robot and the installation position of the motor reasonably. Secondly, the kinematic analysis of the robot was performed using the D-H parameter method. Finally, the model was imported into ADAMS for motion simulation of shoulder joint flexion/extension, adduction/abduction and elbow joint flexion/extension. Simulation results prove that the rehabilitation robot has a well-designed shoulder and elbow joint structure, smooth motion curve, no sudden changes in speed and position, and good bionic properties. The conclusion is the wearable upper limb rehabilitation robot is well designed, can provide patients with effective rehabilitation training. A theoretical basis for future prototype production and subsequent research was laid.