Proposing a Graphic Simulator for an Upper Limb Exoskeleton Robot

摘要

In this study, a graphic simulator that is used to simulate problems related to kinematics and dynamics for an exoskeleton robot arm with 5 degrees of freedom (DoF) was presented. The graphic simulator utilized the advantages of design software SolidWorks, Catia, and the computing and simulation power of SimMechanics Toolbox in Matlab. The core of the proposed graphic simulator is algorithm to solve the kinematics and dynamic problems of a developing upper-limb rehabilitation robot. The study used the proposed optimization-based algorithm to solve the inverse kinematics (IK) problem for the redundant robot model. Endpoint trajectories were imported from measurement data. The joints variable solutions obtained before entering the dynamics problem were smoothed to ensure feasibility in the later calculation process. A process to solve the inverse dynamics problem using physical model by combining the power of two software SolidWorks and SimMechanics was also proposed. This process ensured that the Robot’s design could be changed and updated to the kinematics calculation fast and easily. To evaluate this procedure, we also compared these dynamics results with results when applying the Lagrange–Euler formulation. All these calculation and simulation processes have been integrated into the graphic simulator software to show efficiency and user-friendliness.