Design And Research Of Massage Robot Based On Decoupled Parallel Mechanisms

As one of the treatment methods of traditional Chinese medicine characteristics, Chinese massage is the priceless heritage of the motherland medicine, its history long and cultural foundation heavy, and the effect of Chinese massage is special and obvious. But a good or bad effect of Chinese medicine therapy is closely related with massagists’ experience, massage skills popularized hard and drained on massagists’ physical strength hugely. This paper, based on decoupled parallel mechanism as the ontology institution, compromising the merits of both series mechanism and parallel mechanism, a novel series-parallel Chinese massage robot mechanism configuration is been put forward, it is a initial exploration of traditional Chinese massage with automated quantitative operation. Main contents of this paper are as follows:By analyzing kinematics characteristics of several typical Chinese massage techniques, revealing kinematics rules of Chinese massage, refer to the actual working environment of massage operation, the specific kinematic design requirements for Chinese massage robot mechanism configuration is proposed.Based on screw theory and kinematic synthesis thought, a type synthesis method of novel two translations and one rotation(2T1R) decoupled parallel mechanism is presented and its process is also offered. And systematic and comprehensive synthesis for the mechanism is realized with gaining a large number of 2T1 R decoupled parallel mechanism.Refer to the design requirements of Chinese massage robot mechanism, selecting three novel 2T1 R decoupled parallel mechanisms, analyzing the nature and the number of degree of freedom(DOF) and its decoupled characteristics in detail, choosing the better one from them as the ontology institution of Chinese massage robot, a 5-DOF series-parallel Chinese massage robot mechanism is proposed.Clearing and definite the simulation work environment of the Chinese massage robot mechanism, the kinematics simulation analysis of its ontology institution is performed with ADAMS, and the simulation of massage techniques are also accomplished based on Chinese massage robot mechanism model, with validating whether the mechanism can realize the operation requirement of typical Chinese massage techniques.