Structural design and simulation analysis of exoskeleton upper limb rehabilitation robot
                                                  SUN Chao，YUAN Minghai，ZHOU Zhuo，CAI Xianxian
                          (College of Mechanical and Electrical Engineering，Hohai University，Changzhou 213022，China)

Abstract: Aiming at the problem that patients with mild paralysis of upper limbs could conduct rehabilitation physical therapy training independently，based on understanding of the drawbacks of traditional rehabilitation training and the functions of rehabilitation robots, the exoskeleton upper limb rehabilitation robot which is wearable was proposed. From the perspective of bionics, the overall mechanical structure of the rehabilitation robot was modeled, and three fixing devices which could achieve length adjustment were designed. The driving torque of the robot’s each joint was analyzed and calculated theoretically. The step function was written according to the model action. The function and the 3D model map were imported into the Adams for dynamics simulation, and the driving torque curves diagram of each joint were obtained. The simulation results were compared with the theoretical calculation results. The support plates of the shoulder joint and the upper arm were analyzed. The results indicate that the structural design of the exoskeleton upper limb rehabilitation robot is highly feasible，and it can help patients achieve rehabilitation training.

Key words: structural design；rehabilitation robot；dynamics simulation；strength analysis