Simulation and Research on the Model of Rehabilitation Robot for Upper Limbs Based on Kane Equation

In this paper, taking 5 DOF Rehabilitation robot for upper limbs as the study subject, the recursive kinetic equations of this system are obtained using Kane method combined with Newton kinematic principle. The motion model is established and validated. The efficiency of the whole arithmetic is improved without derivation calculation. This paper also provides an intuitional and effective environment for planning the trajectory of the rehabilitation robot.