中医按摩机器人叩击机构的优化设计  

Optimal design on the tapping mechanism of Chinese medicine massage robot

作　　者：焦成彬[1] 李云江[1] 张辉[1] 焦彬彬[1] 

机构地区：[1]山东建筑大学机电工程学院,山东济南250101

出　　处：《山东建筑大学学报》2011年第2期174-177,共4页Journal of Shandong Jianzhu University

基　　金：国家863计划项目(2008AA040206)

摘　　要：按照传统的设计方法作出的按摩机器人叩击机构设计方案,大部分都有改进提高的余地。为获得最佳设计方案,通过创建叩击机构的数学模型,运用复合形法,以结构紧凑、行程速比系数K=1.05和满足机构运动轨迹要求为优化目标,采用FORTRAN语言编写复合形法程序,对叩击机构进行优化,获得了设计变量最优解。对比初始设计,在满足机构运动轨迹的前提下,优化后的机构整体尺寸降低0.48%,最小传动角增加42%,使机构整体结构更加紧凑,传动更加灵活。There is room for improvement in most traditional design schemes for the massage robot tapping mechanism. In order to get the best design scheme, the mathematical model of massage robot tapping mechanism is established, with compact structure, time ratio K -- 1.05 and meeting the requirement of the trajectory as optimization goal. The tapping mechanism is optimized by using complex method, the program of which is worked out in FORTRAN language. The optimal solutions of design variables are obtained. The overall size of the optimized mechanism is reduced by 0.48% and the minimum transmission angle is increased by 42% when compared with the initial design scheme, which makes the overall structure more compact and the transmission more flexible.

关 键 词：按摩机器人 叩击机构 复合形法 优化设计 

分 类 号：TH122[机械工程—机械设计及理论]