基于3-UPS/PPR的推拿机器人运动学分析及仿真  

Kinematics analysis and simulation of massage robots based on 3-UPS/PPR

作　　者：王芮雪 田宝俊 李瑞琴[1] 崔斌 WANG Ruixue;TIAN Baojun;LI Ruiqin;CUI Bin(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,太原030051

出　　处：《机械传动》2025年第2期161-169,共9页Journal of Mechanical Transmission

基　　金：山西省重点研发计划项目(202202150401018)。

摘　　要：【目的】针对中医推拿不同施术者的推拿效果存在差异及体力消耗较大等问题,基于典型推拿手法的工程分析,提出一种以3-UPS/PPR并联机构为核心的推拿机器人,以代替施术者完成推拿手法动作。【方法】首先,运用螺旋理论对该机构进行自由度分析,并利用K-G公式进行验证;其次,应用封闭矢量法求解其位置逆解,建立雅可比矩阵模型,进行奇异性分析;然后,采用极限边界搜索法求解该机构工作空间,并对其运动/力传递性能进行分析;最后,利用Adams软件对其进行拍、擦、滚等手法仿真。【结果】结果表明,该机构可实现2T1R共3个自由度,无伴随运动,工作空间内部连续无断层空洞,且不存在奇异位置,传递性能良好。引入恰约束支链提高了推拿手法动作的平稳性,结构较为简单,对中医推拿手法工程化进行了有效尝试。[Objective]Aiming at the problems such as the differences in the massage effects of different practitioners and the large physical consumption of traditional Chinese medicine,based on the engineering analysis of typical massage techniques,a kind of massage robot with a 3-UPS/PPR parallel mechanism as the core was proposed,so that it can complete the massage techniques instead of the practitioner.[Methods]Firstly,the degree of freedom analysis of the mechanism was carried out by using the spiral theory and verified by using the K-G formula.Then,the closed vector method was applied to solve its position inverse solution,the Jacobian matrix model was established,and the singularity analysis was conducted.The workspace of the mechanism was solved using the limit boundary search method,along with the analysis of its motion/force transfer performance.Finally,tapping,rubbing,rolling and other maneuvers were simulated by using the Adams software.[Results]The results show that the mechanism can realize 2T1R three degrees of freedom without accompanying motions,and the workspace is internally continuous without fault cavities,with no singular positions and excellent transfer performance.Through the introduction of cha-constrained branched chain to improve the smoothness of massage manipulation,the structure is relatively simple,which is an effective attempt for the engineering of traditional Chinese medicine massage manipulation.

关 键 词：推拿 并联机构 工作空间 ADAMS软件 

分 类 号：TH112[机械工程—机械设计及理论]