Dynamic analysis of 7-DOF exoskeleton upper-limbed rehabilitation robot

摘要

Dynamic analysis has been playing a significant role in 7-DOF exoskeleton upper-limbed rehabilitation robot, which usually affects the choice of measurement and optimization. Firstly, functional balance method of the second Lagrange equations is applied to analyze dynamics, and the theoretical analysis of torque changing curve is drew by MATLAB in the state of uniform motion. Then, the three-dimensional entity model of the robot is imported into ADAMS to simulate dynamic, each joint driving torque changing curve is achieved in the condition of uniform motion. The correctness of the theoretical analysis and simulating analysis are verified. Finally, the maximum driving moment which provides a basis for the selection of motor and reducer is drew by ADAMS in the accelerated condition.