Proposing a Graphic Simulator for an Upper Limb Exoskeleton Robot

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