基于中医推拿手法的柔性拍打装置设计  

Design of flexible flapping devices based on traditional Chinese medicine massage techniques

作　　者：侯雨雷[1] 佘凤霖 杨宏冠 李岳 范德斌 曾达幸 HOU Yulei;SHE Fenglin;YANG Hongguan;LI Yue;FAN Debin;ZENG Daxing(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;School of Mechanical Engineering,Dongguan University of Technology,Dongguan 523808,China)

机构地区：[1]燕山大学机械工程学院,秦皇岛066004 [2]东莞理工学院机械工程学院,东莞523808

出　　处：《机械传动》2025年第3期53-59,共7页Journal of Mechanical Transmission

基　　金：广东省基础与应用基础研究基金自然科学基金项目(2023A1515012103);广东高校科研平台和项目-创新团队项目(2022KCXTD033);广东省重点建设学科科研能力提升项目(2021ZDJS084)。

摘　　要：【目的】在当下高强度重负荷工作压力下,人们更为重视生活品质与身体健康,中医推拿缓解疲劳、促进代谢的保健作用愈发显见。拍打是中医推拿中的重要手法,提出一种柔性拍打装置。【方法】借助曲柄摇杆机构实现往复式摆动,并在其末端增设柔性旋转关节,可通过惯性完成拍打动作;设计调姿机构,以满足用户不同拍打角度所需;建立拍打机构动力学模型,分析去程和回程动力学参数,以验证拍打动作的可行性;搭建拍打检测系统,测试了拍打速度对拍打力的影响。【结果】研究工作对于仿中医推拿机器人设计具有一定的指导意义。[Objective]More attention is paid to the quality of life and health under the great work pressure,and the health care effect of traditional Chinese medicine(TCM)massage to relieve the fatigue and promote the metabolism is more and more obvious.Flapping is an important technique in TCM massage.A flexible flapping device was proposed.[Methods]The reciprocating swing was realized with the help of a crank-rocker mechanism,and a flexible rotary joint was added at its end to complete the flapping action through the inertia.A posture-adjusting mechanism was designed to realize the flapping angle required by users.The dynamic model of flapping mechanism was established,and the dynamic parameters of outbound and return trips were analyzed to verify the feasibility of the flapping action.Then the measurement system of flapping was built to test the effect of the flapping speed on the flapping force.[Results]The research has certain guiding significance for the design of TCM massage robots.

关 键 词：中医推拿 柔性旋转 动力学 拍打力 

分 类 号：TH122[机械工程—机械设计及理论]