The Study Of Motion Control System Of Chinese Massage Robot

Chinese massage therapy has a long history and is named for the motherland medicine "ancestor". Traditional Chinese massage as the cleanest therapy, has long been approved by the majority of patients. At present, with aging of the Chinese population, the demand for Chinese massage therapy increases, but our country Masseur resources do not satisfy people's needs. In order to solve this problem, people invent various instruments and have greatly enriched massage health care. But due to the strength and vibration frequency of massage apparatus are difficult to control, these instrument still can't achieve high level of the Masseur, so developing intelligent massage robot has become an urgent demand. Therefore, the 2008 national "The 11th Five-Year" plan for hi-tech development planning in the advanced manufacturing technology "service robot" field has planed to research the Chinese massage robot.This paper designs a Chinese massage robot motion control system which can achieve a variety of massage affections by using of Chinese massage knowledge, computer control and mechatronics technology. The Chinese massage health care treatment replaced by robot can effectively relieve the current medical care resources constraint. This research contents include the following respects.The first, this research has completed the robot whole structure design which includes the motion controller, sensor module, and massage hand modules modular design. We also give the Chinese medicine massage robot control cabinet design and consider the electromagnetic compatibility (EMC) to ensure the whole arrangement of motion control system safety and stable operation.The second, according to the mechanical structure and parameters of the robot, we take the d-h method to establish manipulator kinematics equation, and by solving the equation to find the relationship between position and joint turn variables. We establish mathematical model and using MATLAB to simulate the track.The third, we according to Chinese massage science theory finish eight kinds of massage technique kinematics algorithm design and programming realization. According to Chinese massage expert knowledge of 8 kinds of massage technique, we take the simulation experiment and the experimental results obtain Chinese massage experts consistent approval.Finally, we take lumbar intervertebral disc herniation which is one of the common clinical lumbar diseases for clinical test. Combining with experience of traditional Chinese medicine treatment massage experts' knowledge and expert system control theory knowledge, we design therapy massage robot automatic generating system. Clinical trials proof, this system can generate the information according to different patients for the patients' own treatments. The system operation is stable and reliable.