Design of Multiple Rehabilitation Mechanical Arms

To meet the recovery needs of arm movement function for obstacle patients,a kind of multiple rehabilitation mechanical arms is designed.The mechanical structure,working principle and three control ways and the homogeneous transformation matrix of the rehabilitation mechanical arms location and gesture based on D-H method are introduced.The rehabilitation mechanical arms can make palms and forearm curve separately or together.Through the prototype test,the basic function of rehabilitation mechanical arms is verified,providing effective rehabilitation training for arm motor dysfunction patients.