Kinematics and Dynamics Analysis of a Two- Arms Rehabilitation Robot

摘要

With the increasing number of aging population, stroke has become an important disease that endangering the health of the elderly. There were many limitations on traditional rehabilitation methods, such as the need for one to one treatment, long rehabilitation cycles, and so on. The development of robotics technology could make up for the above problems. Kinematics and dynamics analysis was the basis of robot control, and simulation software could be used to preliminarily predict the performance and motion range of the robot system. In this paper, a dual arm support robot was developed to rehabilitate patients with lower limb paralysis that caused by stroke. For the support robotic arm, firstly, the mechanism was simplified, and the linkage coordinate system was established. Through the D-H matrix parameter table, the end position of the manipulator was described. The work space scatter plot was drawn after the calculation of the inverse solution verify the rationality of the mechanism design. Afterwards, the dynamic model of manipulator was established based on Lagrange equation, and joint torque expressions were solved with structural mass distribution parameters. Finally, the SOLIDWORKS model was imported into ADAMS for dynamic simulation. The curves of the torque, angular velocity, and angular acceleration of each joint were obtained, laying the foundation for the precise control of the manipulator.