How can we build a kinematic model for an assistive arm

Component Modeling
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I’d like to consult with the experts: how can a kinematic algorithm model be established for this type of assistive arm structure? Could you please take a look?

9-Ra.vcmx (1.8 MB)

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image790×514 30.3 KB

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When switching configurations [“LEFTY”,“RIGHTY”], it is necessary to set all joint values to 0, otherwise problems may occur
9-Ra.vcmx (1.8 MB)

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图片11445×984 123 KB

Untitled 00_00_00-00_00_30~1

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Oh my god, you’re my savior! Thank you so much for your help. Good luck to you!