电动上肢运动康复系统建模及运动学仿真研究

文中设计了一款电机驱动医疗康复机械臂，并对机械臂的运动过程进行仿真分析，研究其在运动过程中的安全性和可靠性。主要研究内容包括对机械臂进行机械结构设计，利用SolidWorks软件完成建模工作；对机械臂进行正运动学分析和逆运动学分析，建立运动学方程；在Adams环境下对机械臂进行运动学分析，分析机械臂的运动轨迹和运动速度。

Study on Modeling and Kinematic Simulation of Electric Upper Limb Motor Rehabilitation System

In this paper a motor-driven medical rehabilitation mechanical arm is designed and the movement process of the mechanical arm is simulated and analyzed to study its safety and reliability in the movement process. The main research contents include the mechanical structure design of the mechanical arm and the modeling using SolidWorks software, the analysis for the forward kinematics and inverse kinematics of the mechanical arm and the establishment of kinematics equations, the analysis on Adams platform for the kinematics of the mechanical arm including the motion trajectory and speed of the mechanical arm.