Kinematics and workspace analysis of 7-DOF upper-limbed rehabilitation robot

The special characteristics of kinematics and workspace of 7-DOF upper-limbed rehabilitation robot is studied with the combination of the methods of theoretical analysis and simulation. Firstly, D-H transformation matrix is applied to establish the kinematics model. Secondly, the three-dimensional model of the rehabilitation robot is established in Pro/E and imported into ADAMS/view for the kinematics analysis. And the final simulation results are concurred with theoretical curves, which verified the correctness of theoretical analysis. Finally, the workspace analysis based on the theory of Monte Carlo provided a basis for the robot trajectory scheme.