Modeling, Kinematic Analysis, and Simulation for a 6-DOF Upper Limb Rehabilitation Robot

This paper focuses on modeling, kinematic analysis, and simulation for a 6-DOF upper limb rehabilitation robot. The design structure mechanics and range of motion of the shoulder, elbow, and wrist joints are determined based on analysis of arm human anatomy. In addition, the kinematics model and working space of the robot are also depicted. Forward kinematics is solved using the modified Denavit – Hartenberg (D-H) parameters method with coordinate transformation theory. Due to the redundancy in the robot structure which leads to multi-solution in the inverse kinematic model. Therefore, the Jacobian matrix is used to look for a unique solution for each end-effector position. Finally, to prove the ability to operate the system simulation results verify the kinematics and working space of the robot in MATLAB Simulink based on the Simscape model exported from Solidwork software is performed.