Aiming at the driving problem of the existing upper limb rehabilitation exoskeleton ro-bot,this paper design a hybrid-driven upper limb rehabilitation exoskeleton robot,in which the shoul-der joint is driven by a motor directly connected to the joint,and the elbow and wrist joints are driven by a motor in cooperation with a rope.In accordance with the anatomical structure of the human upper limb to design the ontological structure and basic attributes of the exoskeleton robot,analyze the principle of elbow joint movement,rope-driven joint tension analysis,using the D-H method to establish the ro-bot's kinematics model,analyze the positive kinematics.The robot through the ADAMS software for ki-netic simulation,the use of CUBSPL function as a drive to arrive at the torque change of the joints for the back of the individual joint motors to provide a basis for the selection of each joint motor later.
维普
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