上肢康复医疗机器人运动学及动力学分析硕士学位论文（可编辑）.docVIP

上肢康复医疗机器人运动学及动力学分析硕士学位论文 Abstract Due to the acceleration of social rhythm, more and more factors can cause disability. As an important rehabilitation medical equipment, the upper-limb rehabilitation robot can make significant roles to improve the situation of disabilities and promote the development of disability industry. The research on the upper-limb rehabilitation robot has become a meaningful and urgent task for building a well off society with harmonious socialist. This paper presents kinematics and dynamics models of 7-dof upper-limb rehabilitation robot, and makes exploratory analysis