The Design And Research Of The Mechanism Of The Massage Manipulator

Despite the rapid development of service robots today,they have penetrated into every field of human life.Several common areas include public safety,health care,education,entertainment and so on.But now the effect of the service robots with massage functions on the market are far from what people imagine.On the one hand,because its massage principle is relatively simple,on the other hand,because the research of the robots with massage efficacy is not deep enough.The realization of humanized massage manipulator is of great significance to the improvement of massage efficiency and even to the improvement of people's life quality.So the design and research of massage manipulator is of great significance to the field of massage service robot.First of all,this paper summarizes the development of service-oriented robot,analyzes the development cases of service-oriented robot and the problems to be solved.Based on the basic analysis of the working principle of the massage manipulator and combined with the human body standard size,the scheme of massage manipulator is designed for the neck and shoulder of human body.The designed massage manipulator can realize four kinds of massage modus operandi: finger pressing,finger kneading,finger pinching and vibration.Through the selection of transmission mode and drive mode of massage manipulator,the overall mechanism of massage manipulator is designed.Then,the three parts of the massage manipulator,the frame parts,the arm parts of the massage manipulator and the palm parts of the massage machine are modeled in turn,and the whole massage manipulator is assembled.According to the performance requirements,the necessary stress analysis of the key parts is carried out to verify the rationality of its stiffness and strength.Finally,the modeling of Solid Works united with ADAMS can simulate the real working condition of mechanical massage hand to the maximum extent.By establishing the 3D model of Solid Works,setting up the model parameter and importing it into ADAMS software.In this way,the kinematics simulation model of massage manipulator can be made,and finally the kinematics simulation can be achieved.