Mechanism Design And Analysis Of Foot Massage Robot

Hypertension is getting younger and younger, and the sick people are growing, quickly. There is no conventional treatment can be effective treatment. Clinical results show that a professional foot cure technician with a combination of a professional foot massage, points and treatment for foot massage, can be effective for treatment of hypertension, and without any side effects. However, the level of foot cure technician’s quality is not the same. And, foot massage is no uniform standard to regulate. The method through the foot medical treatment of hypertension is difficult to achieve promotion and popularization. Therefore, it is significance that people use a kind of robot to unify standards of foot massage and promote the standards.This paper presents a foot massage robot body configuration, and the structural design. The main contents four areas include:foot massage robot mechanical design, kinematics analysis, stress analysis and mechanical design.First, according to the primary design goal for foot massage robot, based on the configuration of the existing agencies, this paper presents a new configuration of series and parallel institutions. The configuration is a series and parallel agencies, composed of PRRRP plane mechanism and a parallelogram-slider-crank mechanism. The mechanism’s main feature is to separate the two degrees of freedom in a plane and the freedom in the plane perpendicular direction. This enables a simplified structure, and also to facilitate modular design.Secondly, according to design requirements, the work space the mechanism up to is chosen, and the scale of the mechanism is calculated and optimized. Then, the kinematics of the positive and inverse are analyzed, and according to the results of inverse analysis, trajectory planning is done. By analyzing the results, the better and the worse performance of the kinematics are gotten, in motion. These provide a reference for future control.Thirdly, stress analysis is carried out, and through analysis and comparison of the force, the force conditions of all joints are gotten. And, by analyzing the special conditions, the force of the key joints in the dangerous condition was found. Finally, according to the conclusions of the preceding analysis, the structural design of overall mechanical structure was carried out, and the finite element analyses were carried to the intensity of the key parts. The results show that these parts can operate normally in dangerous conditions.