Analysis of Dynamic Behavior of ParReEx Robot Used in Upper Limb Rehabilitation

This paper presents a dynamic analysis of the ParReEx multibody mechanism, which has been designed for human wrist joint rehabilitation. The starting point research is virtual prototype mechanism. model used to simulate dynamics mechanism using ADAMS in three simulation scenarios: (a) rigid kinematic elements without friction joints, (b) with and (c) as deformable solids joints. In all cases, robot by patient form mannequin. Results such connecting forces joints torques necessary operate modules are obtained MSC.ADAMS. numerical compared those experimentally. Finite element structural optimization (FEA) flexion/extension module performed. results demonstrate operational safety structurally capable supporting external loads it subjected.