Research And Development Of New Hybrid Chinese Traditional Medical Massage Manipulator Robot

With the continuous progress and development of the science and technology,as an important component of the traditional chinese medicine therapy,Traditional Chinese Medical Massage are still done by experienced massagists of Chinese medicine.In recent years,a lot of Massage equipments have been developed that enriches and expands care and treatment of Massage.But because of grasping mechanical strength difficultly,quite difficult to control the rate of vibration,many massage instruments can not achieve the high level of the advanced massage surgeon.So the development of massage manipulator is expected to inherit and carry forward the skills and effects of massage,and making a great development of the ancient massage technique.In order to adapt to different patient's height and size,massage manipulator need to provide adequate space for movement and flexibility. At the same time in order to satisfy the requirements of the operation, massage manipulator also need to have sufficient stiffness and accuracy. In this paper,deficient dof mechanisms are used as the massage manipulator.And the parallel mechanism achieves a common massage action with Mechanical Arm.It has the advantages of both parallel mechanism and Mechanical Arm.It makes up for the disadvantage of the small workspace of parallel mechanism.And it expands the fields of application of parallel mechanism.Firstly,the kinematics characteristics of rolling and kneading manipulation are studied.Output motion matrixand and frequency of Chinese Medicine manipulation are obtained.According to the results of the analysis of manipulation,the degrees of freedom and output motion matrixand of the massage manipulator are analyzed.The basic design criteria of the TCMM manipulators are obtained.The TCMM manipulators are systematically studied according to the basic design criteria,which include the manipulators on the basis of the parallel mechanisms with one translational and three rotational degrees of freedom,with one translational and two rotational degrees of freedom, with three translational and one rotational degrees of freedom.The manipulators on the basis of the hybrid parallel mechanisms are easy to achieve the massage manipulation.Secondly,on the basis of the degrees of freedom and the freedom nature of each branch chains of parallel mechanisms,the topology analysis of parallel mechanisms are finished by DOFs and mutual configuration forms of kinetic pairs.The Single Opened Chain intersection method is used in the type synthesis of the main body of Chinese Traditional Medical Massage Manipulator Robot.With the ADAMS software,the degrees of freedom and motion characteristics of parallel mechanism and are verified.Thirdly,according to the basic design criteria of massage manipulator,parallel mechanism is considered as the main body. Mathematical model is set up by the mechanism math.And do kinematics and dynamics analysis for mechanism,includes analyzing of forward and inverse position,velocity,workspace,singular configuration and so on.Lastly,TCMM manipulator is designed according to the kinematics and dynamics characteristic demands.Massage Series Manipulator provides the basic position and attitude.Kneading,rolling are finished by small parallel massage terminal.The parallel massage terminal is the hybrid parallel mechanisms with three translational and one rotational degrees of freedom,it has deficient dof mechanism and quick changing massage head.According to massage manipulation,single degree massage head has been designed.High-frequency movement is separated from massage manipulation,it difficult to achieve by the parallel mechanism.The three dimensional model of was designed and installed. And the kinematics simulation of the mixed-connected robot is done with ADAMS software.