Structure Improvement Of The Mechanical Arm And Design Of Dexterous Hand For Massage

At present,the global aging situation is becoming more and more serious.China,as the most populous developing country,is particularly serious about the aging problem and the huge demand for medical care and health care for the sick has become one of the major problems that China must face.Of course,it also brings a historic opportunity for home service robots.As an important part of China traditional medicine science,Chinese massage has many merits such as wide application range,obvious curative effect,less side effects,widely applicable to the elderly,children,women,youth,etcetera,which is the effective way to cure various diseases and made tremendous contributions to people's health for a long time.However,due to different treatments of different disease of people,problems like high requirements of massage,time and energy consuming limit the wide range of traditional Chinese massage to a great extent.Therefore,it is of great social and economic significance to develop the robot.In this paper,according to the features of the massage robot,the main structure of the robot is further improved and a new dexterous hand is designed on the basis of the existing massage robot.The specific studies are as follows:First of all,the situation of domestic and foreign experts and scholars on the massage robot was studied.The summary existing research problems and development trend of future massage robot was conducted.The kinematics and dynamics requirements that common massage manipulation should have were analyzed.This paper puts forward the function output matrix of commonly used massage methods,and designs the general scheme of mechanical system and control system of traditional Chinese massage robot.Secondly,according to the China adult human body size standard(GB10000-88),the main size and scope of the massage robot arm and dexterous hand structure were determined.Also the design of the main parts of the robot arm and dexterous hand was completed and a virtual prototype massage robot arm and dexterous hand was established.At the same time,the design of the outer shell of the massage manipulator was completed,which solves the problem of dust prevention and safety of the movable guide rail of the massage manipulator,and improves the overall appearance and the affinity of the massage robot.Then,coordinates of the end of the mechanical arm and dexterous hand‘s each finger in the corresponding base coordinate system were obtained by analyzing the position of the virtual prototype of the massage robot.Position analysis method and conclusion were verified by MATLAB and ADAMS.The feasibility of the mechanical system design of the massage robot was tested through the kinematics analysis and simulation of the typical manipulation method.Finally,the hardware and software of the massage robot control system were designed according to the control system of the massage robot,including: the selection of the controller,the design of human-computer interface,power module design,information collection module design,as well as the main program design and subroutine design of common massage method.Through the assembly and control of the robot,the function demonstration of the prototype is realized.