The Design And Research Of Humanoid Massage Robot

With the progress of modern civilization, robots have been accepted andrecognized by people.Robots have been moving from narrow industrial, defense andother special areas to human services areas.In recent years, as one of robots,servicerobots are developing rapidly, medical and recover、cleaning、construction、disasterrelief and other kinds of service robot have already walked into our life.China is acountry with a large population, a large population base, the number of old people isincreasing year by year, the demand for medical services are become more and moreheavy among old and the disabled people.Harnessing the power of technology to solvemedical pension issues of the elderly and disabled is an effective means, in view of thefundamental realities of our country.We study a kind of massage robot which is acombination of chinese traditional medical massage theory and modern robottechnology, it can not only meet the needs of the market and solve practical problemseffectively, but also make up for the lack of various massage equipment in market,humanoid massage robot must play a huge role in promoting effect of traditionalchinese medical massage and give huge benefit to mankind.Structure design of the humanoid robot massage is based on Chinese medicinemassage theory, by means of the powerful solid modeling、virtual assembly、assemblymotion simulation function of Pro/Engineer, the design of the humanoid massage robotis reasonable and economic.With the vision system the humanoid massage robot canachieve precise positioning of the acupoint massage, it can effectively solve visionlocalization problem that exists on the market.In this paper, the kinematics andtrajectory planning theory for humanoid massage robot was carried out, and by meansof convenient application of MATLAB (Robotic tool),complete simulation analysis ofthe kinematics and trajectory planning theory.In order to realize overload protection onbody, the sensor that can accurately feedback massage force information is designed,and complete the controlling strategy of humanoid massage robot,those canprovides the theory basis for the selection and design of humanoid massage robotcontroller.In a word, the humanoid robot massage has the advantages of safe andcontrollable massage force,precise positioning,convenient operation and repeatedmassage action.it can realize human massage in accordance with the requirements ofthe Chinese medicine massage theory, this must be helpful to the disabledrehabilitation and the health of the elder people.