智能按摩机器人的设计  

Design of Intelligent Massage Robot

作　　者：韩希然 许朋朋 HAN Xiran;XU Pengpeng(Qingdao Huanghai University,Qingdao,Shandong 266500,China;Huayu Yuntong Marine Technology(Shandong)Co.,Ltd.,Qingdao,Shandong 266500,China)

机构地区：[1]青岛黄海学院,山东青岛266500 [2]华宇云通海洋科技(山东)有限公司,山东青岛266500

出　　处：《自动化应用》2024年第S02期74-76,共3页Automation Application

摘　　要：传统中医按摩需人工进行,不仅体力消耗巨大,而且按摩手法因人而异,按摩疗效存在较大差异。基于此,设计了一种智能按摩机器人。其借助协作机器人牵引示教功能标定机器人需要的按摩区域,并根据标定点自动生成按摩轨迹,实现区域性按摩;或通过视觉定位系统自主识别穴位,实现穴位精准按摩;借助六维力传感器可实现监测按摩力度,通过调整协作机器人手臂的姿态实现恒定力度按摩。所设计的按摩机器人操作简单、安全性高,具有广阔的应用前景。Traditional Chinese medicine massage requires manual labor,which not only consumes a huge amount of physical energy,but also varies in massage techniques from person to person,resulting in significant differences in massage efficacy.Based on this,an intelligent massage robot was designed,which uses the traction and teaching function of the cooperative robot to calibrate the massage area needed by the robot,and automatically generates the massage track according to the target point to realize regional massage.Or self-identification of acupoints through visual positioning system to achieve precise acupoint massage.With the help of six-dimensional force sensors,massage force can be monitored and constant force massage can be achieved by adjusting the posture of the cooperative robot arm.The designed massage robot has simple operation,high safety,and broad application prospects.

关 键 词：按摩机器人 协作机器人 牵引示教 视觉定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]