KINEMATIC ANALYSIS OF THE VARIABLE HEIGHT ROTATING MECHANISM FOR END-TRACTION UPPER LIMB REHABILITATION ROBOT

Liang Dongtai, Yongfei Feng,Yang Shengye, Tang Min, Wu Liangda, Jin Di, and Luige Vladareanu

Keywords

Upper limb rehabilitation robot; variable height rotating mechanism; screw theory; serial–parallel mechanism

Abstract

To improve the motion diversity of planar end-traction rehabilitation robot, a variable height rotating mechanism for the end-traction upper limb rehabilitation robot (ULRR) is proposed based on the serial–parallel mechanism. Firstly, the degree of freedom of the variable height rotating mechanism is calculated based on the constrained screw theory. Then, through the constraint relation of each linkage’s length, the direct and inverse position solution of the proposed mechanism is derived. On account of the driving installation position and the length of each drive link, the workspace of the mechanism is studied to meet the requirement of human upper limb movement space. In addition, the kinematic performance analysis is completed through the distribution of the Jacobian matrix condition number in the workspace. Moreover, the multi-posture trajectory is planned through the quintic polynomial interpolation algorithm. Finally, the prototype of the variable height rotating mechanism is built and the posture adjustment experiment is carried out, which preliminarily proves the rationality of the proposed mechanism.

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