In this paper, based on D-H method, the kinematics modeling and simulation calculation of an upper limb exoskeleton robot prototype are carried out by using SimMechanics module of MATLAB, and the simulation results of the upper limb exoskeleton motion space of one arm and both arms are analyzed, and the motion characteristics of one arm and both arms of the upper limb exoskeleton are obtained. By comparing the simulated motion characteristics with the actual motion characteristics of human arm, the rationality of the simulation method is proved. The simulation analysis method in this paper can provide reference for the design and kinematics analysis of the same type of robot.
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Chen et al. (2024) studied this question.
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