The Design And Research Of The Humanoid Massage Robot Controller

With the progress of science and technology, the robots have been extended from the initial industrial field to all fields, such as agricultural robots, entertainment robot, medical robots and so on. The developing tendency of robots is from the factory and laboratory to people’s daily life. With the development of bionics and robot technology, the combination between human and machine is more close.The massage robot we studied, a platform for Chinese medicine treatment or rehabilitation is based on the man-machine joint technology. It combines traditional Chinese medicine massage with the robot features of high positioning accuracy, massage strength accurately controlled, accurate repeated movement, fatigue free and so on. It can massage humans according to Chinese medicine massage theory.This article chooses the Solid Works, a three-dimensional modeling software, to build a 3D model of the massage robot, adopts the D-H coordinate system to build its mathematical model, and uses the MATLAB simulation software to make kinematics simulation for the robot.This article determines the hardware type of the control system of the massage robot according to its control requirements and the characteristics of the hardware involved through market investigation and survey.In ADAMS, a virtual prototype model of the massage robot is built, and its physical and kinematic parameters are modified. In order to verify the performance of the control system we designed, we combine ADAMS and MATLAB to make some joint simulations for the massage robot control system.To sum up, this article researches the massage robot, especially its control system, using the methods of mechanism design, 3D modeling, motion simulation and control simulation. These researches have important academic and practical value in improving its developing efficiency, developing cost and performance.