Design And Research Of Massage Mechanism For Lumbar Disc Herniation

As the core of traditional Chinese medicine,Chinese massage has always played an important role in medical care.At present,the traditional Chinese massage is mainly carried out by the masseur manually,whose work efficiency is not only low,but also the massage effect is affected by many adverse factors of the masseur himself.As a result,the massage treatment effect is difficult to get reliable guarantee.With the rapid development of robot technology,robot has been applied to all walks of life.It can not only overcome the shortcomings of low efficiency,but also not be affected by the environment and human factors.Based on the traditional Chinese massage theory,this paper designs and researches the mechanism for the treatment of lumbar disc herniation by combining the mechatronics technology,which mainly involves the design and research of traction bed and massage manipulator.The detail are as follows:Firstly,the research status of massage robot at home and abroad is introduced in detail.As for the massage manipulations commonly used in the clinical treatment of lumbar disc herniation in traditional Chinese medicine,whose characteristics of kinematics and dynamics are analyzed.The overall scheme design of the massage mechanism is determined,which includes three sub mechanism modules:traction bed,massage arm and parallel end actuator.The traction bed is used to complete the manipulative operation of the rectification type,and the massage arm is used to complete the manipulative action of the loosening type with the parallel end actuator.Secondly,the mechanisms of traction bed and massage manipulator are designed.In order to reduce the additional cut force to the patient's spine during rotational traction,the traction bed circumrotate center is designed in the same line with flesh spine.And based on the viewpoint of intrinsic geometry,a new type of Chinese massage manipulator is proposed which is connected in series and parallel.The traditional Chinese massage manipulator is composed of a series massage arm and a parallel end actuator.On the one hand,it can ensure that the mechanism has a more flexible movement space,on the other hand,it can improve the stability and bearing capacity of the mechanism.A variety of parallel actuators that can meet the functional requirements are synthesized by using the theory of azimuth feature set during the design of topology structure of the parallel end actuator.In addition,according to the performance indexes,the optimized parallel actuator is optimized,and the optimal structure type of parallel actuator is obtained in the end.Finally,the kinematics analysis of massage mechanism is carried out by establishing the mathematical motion model.With the help of Solid Works software,the three-dimensional model of the massage mechanism is created,and the model is imported into Adams for virtual realization and simulation.Through the analysis of the obtained trajectory curve,it shows that the mechanism can basically meet the operation requirements of the massage technique.