Kinematics simulation of upper limb rehabilitant robot based on virtual reality techniques

The wearable exoskeletal robot for upper extremity rehabilitation is taken as the research object. According to D-H method, an accurate three-dimensional mechanism model for the robot system is established by SolidWorks software. The virtual set was generated in Simulink/VRML to carry out dynamic simulation. The variable parameters were set based on robotic practical joint range movement. The simulation of all joints and terminal trajectory and space motion area provided theoretical basis for position control, remote control and trajectory planning, realizing the rehabilitation robot visualizations and system interaction.