Abstract: For the shortcomings of the upper limb exoskeleton interconnection,low intelligence level,large ontology size,and high manufacturing costs,a new desktop three degrees of freedom end traction upper limb exoskeleton robot with simple structure,low price,and mass customization was designed.First of all,according to the patient′s rehabilitation function requirements,the overall structure design was carried out in combination with the size of the upper limbs of the human body. Secondly, the finite element simulation software Ansys Workbench to perform static simulation on key parts,optimize the stiffness,strength and size of the parts,so as to verify the rationality of the material and size of the exoskeleton. Then the Denavit-Hartenberg (D-H) parameter method was used to establish a coordinate system,derives the orthodox motion and solve the work space of the end position,and draws the work space point cloud chart. Finally,the kinematics analysis of the end traction upper limb exoskeleton was carried out using Adams software. The results show that the structure design of the end traction upper limb exoskeleton is reasonable and can meet the rehabilitation training requirements of patients with upper limb motor dysfunction.

Key words: terminal traction upper limb exoskeleton, three degrees of freedom, structural design, static simulation, kinematics simulation, rehabilitation training