中文摘要：

针对上肢偏瘫患者康复训练的需求设计了一种具有姿态调节功能的康复训练机器人。描述了机器人本体机构的组成,对设计的机构进行运动学分析,得到机器人各连杆变换矩阵和雅克比矩阵。在描述机器人系统架构的基础上设计了带有患肢状态监测的控制器,满足康复训练过程中机器人对轨迹跟踪性能的要求,同时当患肢出现抽搐等异常状态时能够及时解除机器人对患肢的束缚,避免对患肢造成二次损伤。完成系统调试后进行了实验验证,结果表明：设计的康复训练机器人系统具有有效性。

英文摘要：

Aiming at the demand of rehabilitation training of upper limb hemiplegia patients,a gesture adjustable rehabilitation training robot is proposed.The composition of the robot is described.The kinematics analysis of the designed robot mechanism is conducted,and the transformation matrix and the Jacobian matrix of various links of the robot are obtained.On the basis of the description of the robot system architecture,a controller with affected limb condition monitoring function was designed,which satisfies the trajectory tracking requirement of the robot in rehabilitation training process ; and when abnormal phenomena such as twitches occur,the robot can release the bondage of the robot on the affected limb timely to avoid secondary injury to the affected limb.Experiment was conducted to verify the proposed design; the experiment results prove the effectiveness of the designed rehabilitation training robot system.