This article analyzes the forward kinematics and inverse kinematics of the seven-degree-of-freedom exoskeleton rehabilitation manipulator. Denavit–Hartenberg coordinates are used to model the forward kinematics, and the working space of the end effector of the manipulator is analyzed according to the joint motion range of the human arm. In the inverse solution of the seven-degree-of-freedom exoskeleton rehabilitation manipulator, the self-motion angle ϕϕ$\varphi$ of the elbow is used. The minimum energy standard is used to calculate the self-motion angle ϕϕ$\varphi$. The minimum energy mainly includes the gravitational potential energy of the upper limbs and the elastic potential energy stored in the muscles. Thus, the inverse solution formula of the seven-degree-of-freedom exoskeleton rehabilitation manipulator is derived. When calculating the angle θ4θ4${\theta }_4$, an auxiliary parameter is introduced to solve the self-motion manifold of the manipulator. Finally, the theoretical derivation and verification of the forward and inverse kinematics are carried out in this article, and through analysis of the results, it is concluded that the inverse kinematics of this article has some limitations but the theory of inverse kinematics is feasible.

本文分析了七自由度外骨骼康复机械手的正向运动学和逆向运动学。采用Denavit-Hartenberg坐标对正向运动学进行建模，根据人体手臂的关节运动范围分析机械臂末端执行器的工作空间。在七自由度外骨骼康复机械手的逆解中，自运动角φφ$\varphi$使用肘部。用最小能量标准计算自运动角φφ$\varphi$. 最小能量主要包括上肢的重力势能和储存在肌肉中的弹性势能。由此推导出七自由度外骨骼康复机械手的反解公式。计算角度θ 4时θ4${\theta }_4$，引入一个辅助参数来求解机械臂的自运动流形。最后，本文对正反运动学进行了理论推导和验证，通过对结果的分析得出结论：本文的反运动学存在一定的局限性，但反运动学理论是可行的。