The Structural Analysis And Optimization Design Of Chinese Medicine Massage Robot

The LLR-1Traditional Chinese medicine massage therapy robot is a Chinese medicine physical therapy equipment which sets the Chinese medical massage knowledge, computer, control mechanical and robot technology in a body, can realize traditional massage techniques such as pressing, kneading, rolling, vibrating, kneading, including: clinical standard trajectory, tactics massage matching the shape of the hand, and track points corresponding massage strength size and direction. Mainly cater to the middle aged and elderly people treatment functional regulating such as waist pain therapy and health care, etc. Replacing the Chinese medicine massage health care treatment which is ancient and meaningful work by robot, can effectively relieve the current health care resources constraint and the growing social structure of population aging problem.As part of the LLR-1Chinese massage therapy robot, massage hand play an important role for the realization of the variety of massage techniques. Because of the original design massage hand structure consider the functions of the massage only, the weak links may exist and the weight may be too heavy to cause damage in the structure, so it’s necessary to conduct structural analysis and optimization improvements for massage robot. CAE technology is introduced in the structural design of the massage robot can effectively improve product design quality and shorten development cycles, which plays an important guiding significance for the massage robot design and improvement.In this topic, ANSYS and ADAMS is used to massage robot prototype structures of statics analysis, modal analysis and dynamic simulation analysis, and the weak link in the structure and the need to optimize part are found, and proposed measures for improvement. The concrete content as follows:First of all, massage robot entity model is established by using Pro/E and the Chinese medicine massage technique of kinematic and dynamic characteristic are analysed, and the realization forms of massage technique on the virtual prototype robot is also analysed.The position and posture of the various massage hand under various massage technique is determine.Secondly, the analysis and comparison to the position and posture of the massage hand under different massage techniques are done as well as the strength of various massage technique. The robot link coordinate system model is established by using the D-H method to two main massage technique of pressing and kneading, and the force of all joints were calculated under the two massage technique. The static structural analysis on the key components is conducted, which based on the static analysis of the joint force, to get the response of the robot prototype in the largest massage intensity practices.Thirdly, the modal analysis of the robot prototype is conducted by using ANSYS Workbench, and the modes and prototype natural frequency is acquired. Massage robot prototype model is imported into the ADAMS, and dynamics simulation analysis of tapping is done, all the rules of the joint force change with time are obtained.Finally, based on the static structural analysis, modal analysis and kinetic analysis, the hand massage robotic arm structure of multi-objective optimization is conducted by using ANSYS Workbench, which makes the configuration between the structural parameters to optimum, and not only reduce the structural weight, but also improve structural performance. The robot’s weight is reduced by exchanging the original material into more lightened aluminum alloy, and the impact of inertia under the tapping technique is also effectively reduced. The tapping mechanism is optimized by using the complex method which makes the structure more compact and the transmission more flexible.