Development Of A Control System For The Chinese Medical Massage Robot

With the development of society and the improvement of medical level,aging of population has become a global problem,China as a developing country,the problem of population aging is more severe,the contradiction between the increasing number of disability caused by population aging and the not perfect medical services is more serious.With the improvement of science and robot technology level,the emergence of service robot has become the best solution of this social contradiction.Traditional Chinese medical massage therapy as a kind of adjuvant therapy has been widely accepted in the world,and in the treatment of elderly chronic diseases has achieved good results.Therefore,how to successfully apply Chinese medical massage theory to robot has become a new hotspot in research.The popular massage therapy equipment on the market are with single function and the intelligent level is not high,can't achieve the ideal massage effect and massage therapist also can't be free from the heavy manual labor,so the development of Chinese medical massage robot has far-reaching theoretical and social significance.With the support of the National 863 Program,the Robotics and Intelligent Systems Research Institute of Shandong Jianzhu University has carried out research on Chinese medical massage robots in recent years,two generations of laboratory prototype have been developed at present.On the basis of the first two generations of massage robots,the third generation of Chinese medical massage robot is designed,.The main contents of this paper include the following aspects:1.The background and significance of this research are expounded,and the research status of massage robot at home and abroad is introduced.2.Introduced the function of Chinese medical massage robot,the design of the whole structure and motion control system of the robot system is carried out according to the system function requirements.The equipment of the motion controller,the motor drive module,the power module,the sensor and the host computer are selected and designed,and the robot massage device design was introduced.3.According to the structure of Chinese medical massage robots,the kinematics analysis of the massage robot is carried out,and the kinematics modeling of the robot is carried out by D-H modeling method.The kinematic coordinate system of the massage robot is established,and the forward and inverse kinematics of the massage robot is carried out and the simulation was carried out by MATLAB.4.In order to meet the requirements of safety,reliability and comfort of the robot system,the robot compliance control method is studied,and the impedance control algorithm is applied to the massage robot.The dynamic model of the massage robot is established,and the massage robot force control with impedance control algorithm is simulated by MATLAB and ADAMS.5.Introduces the hardware and software of the control system of the massage robot,the electrical design of the control system and the software programming of the control system is introduced,the design and implementation of the host computer are introduced at last.6.Finally,the system debugging of Chinese medical massage robot is introduced.Through the analysis of the lumbar disc herniation and the theoretical knowledge of Chinese medical massage technique,the clinical trial of Chinese medicine massage robot massage is carried out with lumbar disc herniation as an exampleCombine the traditional Chinese massage technique with the robot technology,the Chinese medical massage robot is designed in this paper,which can replace masseur massage therapy,can effectively improve the social status of the current limited health care resources and serious population aging trend,it has a high application value.