Three-dimensional Design Of Pinching Cervical Shoulder Massager

With the acceleration of the aging of China's society and the decline in the demographic dividend,the service robot industry is facing a relatively large opportunity and development space.However,due to a number of reasons,the development of service robots with massage functions is slow and the market share is low.This topic starts from the traditional Chinese medicine massage,combined with the knowledge of robotics and other disciplines,designed a massager for the human cervical vertebrae and shoulders.It is expected to realize the artificial massage of the human body to improve the massage effect and comfort.Significant real medical value.First of all,this paper reviews the development of robotic massagers,and analyzes the development cases and problems to be solved by robotic massagers.Based on the efficacy and comfort of traditional Chinese medicine massage,according to the typical size of the human body,as well as the common massage techniques of the human cervical spine and shoulders,the overall scheme of the human cervical vertebra and shoulder pinch massager is proposed.After comparison and demonstration,it is determined that the mechanical part of the massager is composed of three robots and their driving mechanism and supporting members.The two shoulder massage robots are symmetrically arranged on the horizontal track of the human shoulder curve,and a neck massage manipulator is installed.In the vertical orbit of the curve of the human cervical spine;each robot uses stepper motor drive and incomplete rack and pinion motion and wire rope traction to make the finger and wrist achieve the combined motion of pinching.According to the above massage principle,the robot gripping mechanism,the shoulder robot shifting mechanism,and the neck manipulator shifting mechanism are determined.The height of the sitting position of the lift seat can be adjusted to suit the massage position by the handle of the purchased lift seat.Secondly,according to the above-mentioned mechanism scheme and initial expectation value,the main force parameters of the mechanism are calculated,and the motor and the three-in-one reducer are selected.The relevant dimensions of Matlab's wrist and finger are optimized.The fingers,wrists,arms,incomplete gears,etc.of the manipulator are sequentially modeled,and a complete single pinching robot is assembled first,and then a complete neck and shoulder massager is assembled.According to the performance requirements,ANSYS software was used to analyze the static components ofthe hard finger,arm and support of the massage manipulator,and the strength and rigidity were tested.Finally,the three-dimensional model established by Creo was imported into the ADAMS software,and the wire rope pulling of the manipulator was specially studied and established.The real working state of the manipulator was simulated by ADAMS,and the simulation model of the massage manipulator was established.The results of motion simulation show that the working principle of the designed pinching manipulator and its related selection and main dimensional parameters meet the requirements.