Design and Weight Lifting Analysis of a Strengthen Upper Limb Exoskeleton Robot

摘要

A 5-DOF strengthen upper limb exoskeleton robot has been designed, which is driven by hydraulic pressure and steel wirerope. Simplified the degree of freedom, designed the mechanical structure and optimized structural parameters. The research ensured the structural strength and safety when the robot working. A virtual prototype has been established in RecurDyn. Kinematics simulation is carried out for three kinds of typical weightlifting mode. The research results verified the correctness of the structure design and provided reference for enhancing the lifting capacity of the exoskeleton robot.