中医推拿机器人末端执行器的结构设计与分析  

Structure Design and Analysis of End-effector for Traditional Chinese Medical Massage Manipulator

作　　者：张明亮 石志新[1] 罗玉峰[1,3] 叶梅燕 Zhang Mingliang;Shi Zhixin;Luo Yufeng;Ye Meiyan(School of Mechanical and Electronic Engineering,Nanchang University,Nanchang 330031,China;School of Science,Nanchang University,Nanchang 330031,China;School of Mechanical and Vehicle Engineering,East China Jiaotong University,Nanchang 330031,China)

机构地区：[1]南昌大学机电工程学院,江西南昌330031 [2]南昌大学理学院,江西南昌330031 [3]华东交通大学机电与车辆工程学院,江西南昌330031

出　　处：《机械传动》2020年第6期73-77,83,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51365036)。

摘　　要：首先,针对中医推拿手法中的推法、按法、揉法和滚法,分析了每一种推拿手法的特征,得出要实现这4种推拿手法机构所需的自由度;其次,根据机构所需的自由度,提出了机构的总体设计方案,并对并联机构执行器进行了拓扑结构设计与自由度分析;最后,讨论了并联机构的位置正反解,对并联机构进行了三维建模和运动学仿真。结果表明,该并联机构不仅结构简单、位置分析求解容易,而且能够满足上述各种推拿手法的要求,为后续中医推拿机器人的实际应用提供了理论支撑。Firstly,in terms of traditional Chinese medical massage techniques-pushing method,pressing method,kneading method and rolling method,the characteristics of each massage technique are analyzed,and the degrees of freedom(DOF)of the 4 kinds of massage technique mechanism are obtained. Then,according to the DOF required by the mechanism,the overall design scheme of the mechanism is proposed. As for the parallel mechanism,the topological structures are designed and the DOF is analyzed. At last the direct and inverse solutions of the parallel mechanism are discussed,and the 3D modeling and kinematics simulation are carried out. The results show that the parallel mechanism not only has a simple structure and easy solution of position analyses,but also satisfied the requirements of various massage techniques mentioned above,the theoretical support for the practical application of traditional Chinese medical massage manipulator is provided.

关 键 词：推拿机器人 并联机构 位置分析 仿真 

分 类 号：R244.1[医药卫生—针灸推拿学] TP242[医药卫生—中医临床基础]