实现滚法中医推拿并串混联机器人的研究  

Study of the Traditional Chinese Medicine(TCM) Massage Robot Based on the Hybrid Mechanism to Obtain Rolling Treatment

作　　者：马履中[1] 姚国营[1] 倪前磊[1] 朱曾[1] 

机构地区：[1]江苏大学机械工程学院智能机械及机器人研究所,江苏镇江212013

出　　处：《机械设计与研究》2005年第6期43-46,共4页Machine Design And Research

基　　金：国家自然基金资助项目(50375067)

摘　　要：从分析中医推拿主流手法滚法与按揉法的自由度着手,提出一种4SPS-1RCRR型的5自由度并联机器人机构。针对滚法手法滚动频率较高的特点,增加了滚法推拿头机构,进一步提出一种改进型并联与串联机构混联的推拿机器人。在滚法手法中三维移动由并联机构完成,一维转动由推拿头完成。分析了该类机构的拓扑结构、并联机构的运动学反解,并对滚法推拿头进行运动学设计与分析。通过对改进前后模型运用ADMAS软件进行仿真分析比较,表明该新机型既能避免P副的高频往复运动,又能较好地满足中医推拿中滚法推拿的要求。It is presented a new 5-DOF 4SPS＋IRCRR parallel robot mechanism based on the analysis on the DOF of the rolling method and the press--kneading method in TCM. A new hybrid robot with series-parallel mechanism adding a rolling massage part on the moving platform is presented because of the high frequency of the rolling method. The parallel mechanism fulfills the 3-DOF translational motion, while the rolling part fulfills the rolling 1-DOF rolling motion. It is analyzed the topology structure of the robot, the kinematic solutions of the parallel mechanism, the kinematic properties of the rolling part. The robot model is simulated in the ADAMS software It is showed that the robot can not only avoid the high frequency of the prismatic pair but also fulfill the TCM rolling massage demand.

关 键 词：推拿机器人 并串混联机构 运动分析 仿真模拟 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S858.23[自动化与计算机技术—控制科学与工程]