The Mechanism Simulation And Optimization Design Of Chinese Traditional Medicine Massage

With the quickening pace of aging, the health and nursing of middle-aged and elderly people will become the focus of the society and the family. The Chinese traditional medicine massage exerts take a significant role in the daily health care of elderly people. To date, although there are multifarious massage apparatus, Chinese massage is mainly conducted by experienced massagists, largely because the control of mechanical strength and vibration frequency is too difficult to meet the same effect caused by high-level massagists. Under this scenario, the pressing work is to develop an intelligent as well as standardized massage robot, thereby promoting the traditional Chinese massage therapy.In order to adapt to different patient's height and body from one people to another., traditional Chinese massage robot needs to provide sufficient movement space and flexibility. At the same time in order to satisfy the requirements of the operation, traditional Chinese massage robot needs to have sufficient accuracy. In attempting to achieve the purpose, this paper employs virtual prototyping technology to simulate the massage robot composed of lifting platform, hands, and arms, which will be discussed as follows.Firstly, the kinematics characteristics of spating, palm kneading, pinching, and rolling are studied, output motion matrix and frequency of Chinese Medicine manipulation are obtained. Besides, the body of massage robot was established by PRO/E, a three-dimensional modeling software.Secondly, the ADAMS simulation software was introduced briefly. The three-dimensional model was introduced into the ADAMS, and the kinematics simulation of spating mechanism was done in ADAMS. Through the kinematics simulation, motion law of mechanism was obtained, and the realizability of mechanism was verified. The simplified palm kneading mechanism was established in ADAMS with design size, and the kinematics simulation was done. The moving function expression of palm kneading mechanism was obtained through MATLAB and ADAMS, and was verified by ADAMS.Lastly, the kinematics equation of the simplified pinching mechanism was established, and the model of the simplified pinching mechanism was built in ADAMS. The kinematics simulation of pinching mechanism was done in ADAMS, realizability and correct of pinching mechanism was verified. The pinching mechanism was optimized using the "primary-object method", as a consequence, reasonable parameters of pinching mechanism satisfying the requirement of pinching techniques were gained. At the end, a self-defined dialog was built, through which velocity and sensor values could be changed conveniently.