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Title:: Kinematics analysis and motion trajectory planning simulation of a three-degree-of-freedom upper limb rehabilitation robot

作者:: 栾晓燕1; 王金武1; 2△; 富灵杰2; 戴尅戎2; 曹岚1; 1.上海交通大学生物医学工程学院，上海 200030；2.上海骨科内植物重点实验室，上海交通大学医学院附属第九人民医院，上海 200011

Author(s):: LUAN Xiaoyan1; WANG Jinwu 1; 2; Fu Lingjie2; DAI Kerong2; CAO Lan1; 1.School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai 200030, China;2.Shanghai Key Laboratory of Orthopedic Implants, Department of Orthopedic Surgery，Shanghai Ninth People’s Hospital, School of Medicine Shanghai Jiao Tong University, Shanghai 200011

Keywords:: Rehabilitation robot; D-H rear coordinate system; Kinematics equation; Trajectory planning; Simulation

摘要:: 为满足中风后患者上肢功能障碍康复的需求，设计了一款结构简单、稳定性高的三自由度上肢康复机器人。基于机器人的结构特点，建立D-H后置坐标系，获得运动学方程进行运动学分析；并利用matlab机器人工具箱对机器人模型进行轨迹规划仿真，仿真结果表明设计的康复机器人结构合理，为后续康复机器人的控制优化奠定基础。

Abstract:: Based on the structural characteristics of the three-degree-of-freedom upper limb rehabilitation robot, the D-H rear coordinate system was used to obtain the robot linkage parameters and kinematics equations. The robotic toolbox Robotic Tools of Matlab was used to establish the kinematics model of the robot, and complete the simulation of the robot’s motion trajectory.It lays a foundation for the control of the subsequent upper limb rehabilitation robot.