摘要

外骨骼系统由多个与人体关节相似的关节组成的机械系统，通过与人体相连接而发挥功能，属于机器人的范畴，对其进行的研究活动就属于机器人研究领域分支。该系统能有效帮助身患残疾运动不便的人恢复运动能力，因为患者使用操作该系统，与身体之间能传递体力，一定程度上可以增强运动能力。

笔者在文中对人体上肢运动进行了全面的分析，主要是从实用性方面来进行的。笔者运用专业知识设计了一款可以依附于人体的上肢机器人，它能实现自由的转动，非常符合身体上肢的运动需求，便于人体的穿戴。通过深入分析可知，在设计该款机器人的时候，使用了D-H方法，它属于连杆坐标系里的。依次为基础，创建了该款机器人的连杆坐标系图，并以此为基础，设计了机器人运动模型。除此之外，还对机器人运动的正逆问题进行了分析，推导除了的雅可比矩阵。当计算出机器人速率的前提下，使用该矩阵就能推算出它的尾端运动水平。机器人的工作空间受到连杆长度以及空间尺寸的影响，得出该结论，使用过使用图解法对其空间进行分析做出的。一般情况下，设计人员都是利用proe设计软件，来创建机器人系统结构模型。为了获取它的运动轨迹数据，设计者会进行仿真练习。除此之外，笔者还深入研究了机器人不同关节的相关信息，以此为基础，绘制了关节的位置以及运动速度曲线。所有的数据收集和数据分析，都是从理论上证明了该系统的科学性，为之后的专业性研究奠定了理论基础。

关键词：proe 、康复设备、可穿戴式机器人、运动学分析

Abstract

Exoskeleton system is composed of a plurality of human joints and similar joints consisting of a mechanical system by connecting with the human body to function, belongs to the category of the robot, its research activities belong to the field of robotics research branch. The system can effectively help people with reduced mobility disability exercise recovery exercise capacity, because patients with the operation of the system, between the body and can pass the physical, can enhance athletic ability to a certain extent.
The author in the text of the upper limb movement conducted a comprehensive analysis, mainly from the practical aspects carried out. I use our expertise to design a robot can be attached to the body of the upper limb, it can achieve a free rotation, it is consistent with the needs of the body movement of the upper limbs, to facilitate the body's wear. Through in-depth analysis, which in the design of the robot when using D-H method, which belongs to the coordinate system of the link. Followed by the foundation, which created a robot coordinate system link diagram, and on this basis, the design of the robot motion model.In addition, further positive movement robot inverse problem is analyzed, in addition to the derivation of Jacobian matrix. When the robot is calculated under the premise of the rate of use of the matrix will be able to figure out it's the end of the horizontal movement. Robot workspace is affected by the length of the connecting rod and spatial dimensions of that conclusion, using a graphical method used to analyze the spatial made. In general, designers are utilizing proe design software to create a robot structure model. In order to obtain data on its trajectory, the designer will conduct simulation exercises. In addition, we also deeply studied the different joints of the robot-related information as a basis to draw the position and velocity profile joints. All data collection and data analysis are theoretically proved that the scientific system, laid the theoretical foundation for the professional study later.

Key words：proe、Rehabilitation equipment、 Wearable exoskeleton、 Kinematics analysis;

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