Kinematics Analysis and Trajectory Planning of a Six-Degree-of-Freedom Upper Limb Rehabilitation Robot

Aiming at the problem of how to perform upper limb rehabilitation training for stroke patients, a wearable upper limb rehabilitation robot with six degrees of freedom is designed. Firstly, according to the structural analysis of the upper limb bones, a three-dimensional model of the six-degree-of-freedom upper limb rehabilitation robot is designed using SolidWorks. Secondly, the D-H coordinate system of the upper limb rehabilitation robot is established to calculate the end position coordinates, and the driving function is set in Adams to simulate the movement of the shoulder, elbow and wrist joints of the upper limb. Finally, the quintic polynomial trajectory planning of the upper limb rehabilitation robot is carried out using the Matlab robot toolbox, which verifies the rationality of the design. The conclusion shows that the designed six-degree-of-freedom upper limb rehabilitation robot has the effect of rehabilitation training.