新型串并联中医推拿机器人研究

Study on a Novel Series-parallel Chinese Massage Manipulator

研究了中医推拿中常用的滚法、按法、揉法、推法等手法的运动学及动力学特征,获得完成各推拿手法的运动输出矩阵和施力方向。提出一种能满足推拿要求的基于三自由度并联机构新型串并联中医推拿机器人机型。对该机型中的三自由度并联机构进行了分析,求出其运动学正反解的解析解。系统讨论了该并联机构的推拿范围及转动能力,为扩大该机器人的推拿范围提供依据。该串并联机器人机构综合了串并联机构的优点,不仅能模拟中医推拿常用的几种手法,而且结构简单、位置分析求解容易、解耦性强,易于实时控制。

The kinematics and dynamics characteristics of a Chinese massage of the rolling method, the pressing method, the kneading method, the pushing method etc. were studied, The massage technique output motion characteristic matrix and exerting orientation were obtained, A novel series--parallel Chinese massage manipulator that could meet the requirements of Chinese massage was presented based on a kind of parallel mechanism with 3--DOF. At the same time, the parallel mechanism with two translational and one rotational degree of freedom was investigated and the closed--formed solutions were developed for both the inverse and direct kinematics. The massage area and the rotating ability of the mechanism were analyzed, which provided the foundation for expanding the area. The series-parallel manipulator synthesized the merits of series--parallel mechanisms and could simulate the Chinese massage techniques , The manipulator is simpler in structure with less complicacy in its solutions of position analyses and easier to accomplish real--time control.