颈部按摩机器人设计及优化研究  

Design and Optimization of Neck Massage Robot

作　　者：吴锋锋[1] 张社红 徐艳[1] 宁萌 WU Fengfeng;ZHANG Shehong;XU Yan;NING Meng(Huzhou Central Hospital,Zhejiang Huzhou 313000,China;School of Mechanical Engineering,Jiangnan University,Jiangsu Wuxi 214122,China)

机构地区：[1]湖州市中心医院,浙江湖州313000 [2]江南大学机械工程学院,江苏无锡214122

出　　处：《机械设计与制造》2025年第1期325-330,共6页Machinery Design & Manufacture

基　　金：湖州市科技局公益重点项目—智能化自适应按摩机器人关键技术与应用研究(2021GZB09);湖州市中心医院“青年英才”(2020YC07)。

摘　　要：针对当前颈椎按摩的需求,基于中医按摩理论设计了一种颈部按摩机器人。首先基于仿生学进行机器人构型与尺度设计,使用Solidworks建立三维模型。为提高机器人的按摩性能,使用DH参数建立机器人的正、逆运动学模型,并通过数值算例验证理论模型的准确性。其次建立机器人在捏拿及滚揉两种模式下的工作空间多目标函数,使用改进蚁群算法对机器人的连杆长度和轨迹方程进行优化,以增大按摩机器人的颈部按摩范围,提高不同人群对机器人不同按摩力度的适应性。最后通过原理样机的制作和实验平台的搭建对理论模型进行验证,并通过志愿者在一定时间按摩后的主观感受评价证明了机器人设计的合理性。To meet the current demand for cervical massage,a neck massage robot has been designed based on traditional Chi⁃nese massage theory.Firstly,the robot configuration and size were designed based on bionics,and a 3D model was established us⁃ing Solidworks.To improve the massage performance of the robot,the forward and inverse kinematics models were established us⁃ing DH parameters,and the accuracy of the theoretical model was verified through numerical examples.Secondly,the multiobjective function of the robot’s workspace in kneading and rolling modes was established,and the improved ant colony algo⁃rithm was used to optimize the link lengths and trajectory equation of the robot,in order to increase the massage robot’s neck mas⁃sage range,improve the adaptability of different people to different robot massage strength.Finally,the theoretical model was validated through the production of a prototype and the establishment of an experimental platform,and the rationality of the ro⁃bot design was proved by the subjective feeling evaluation of volunteers after a certain time of massage.

关 键 词：颈部按摩 机器人 运动学 参数优化 实验研究 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]