The Study Of Control System Of Tapping Massage Robot

Massage as a means of health care has developed more than two thousand years, andthe social need of treatment by massage is also increasing year by year. In recent years,there are a lot of massage instruments on the market. But most of the massage instrumentsin the work are not easily controlled on aspects of massage strength and massage frequency,and they are based on the rigid vibration theory. Due to the above characteristics, it is easyto damage human tissues. This massage process cannot be called a real massage. Accordingto many related reference, clinical experience and massage technicians’ opinions, this paperresearches and designs a tapping massage robot control system, which is based on themechanism of tapping massage. It has a cantilever beam structure of massage. With thisstructure, the tapping massage robot has the characteristic of flexible massage, and theexcess massage strength can be avoided. Meanwhile with acceleration sensor and infrareddistance measuring sensor, the tapping massage robot can real-time change massagestrength and massage frequency according to different body parts, and can realize automaticmassage as human body.This paper first based on analyzing the mechanism of tapping massage establishes themathematical model and analyzes the mechanics of cantilever beam structure of massage.According to the above theory research, the tapping massage robot prototype is designed,including the design of tapping massage module,3-DOF right-angle coordinate platformmodule and so on.Secondly this paper develops the tapping massage robot control system that is basedon control strategy of PC and motion control card. In hardware, with GoogolGE-400-PV-PCI four axes motion control card as the core, it controls the motion of axis X,Y, and Z of3-DOF right-angle coordinate platform, and can real-time regulate massagestrength and massage frequency through collecting sensor signals. The other work in thispaper also includes specialized device selection, hardware circuits and the design of controlcabinet. In Software, this paper designs specifically the tapping massage robot softwaresystem which is divided into manual mode and automatic mode. The software systemadopts modularization program, and the concrete functions of each module are concretelyanalyzed and introduced in this paper. Finally in the experimental research, this paper carries on a preliminary debugging onthe tapping massage robot, measures and analyses the acceleration sensor signal to validatethe feasibility of the tapping massage robot.