工程设计学报2011，Vol.18Issue(5)：344-348,5.DOI:10.3785/j.issn.1006-754X.2011.05.006
中医推拿机械臂机构设计及运动仿真
Mechanism design and kinematics simulation of Chinese medical massage arm
摘要
Abstract
According to the characteristics of Chinese traditional massage and the analysis of kinematics and dynamics characteristics of common massage manipulations: rolling, vibrating, rubbing, pressing and kneading, a design scheme was put forward, in which a kind of practical series mechanical arm with parallel mechanism at the end of the actuator realized the common massage manipulation. Series mechanical provided massage position and posture, and parallel mechanism realized massage manipulations as the massage end actuator. The design combined the advantages of series-parallel mechanism, guaranteeing mechanism have enough rigidity, precision and working space movements. The kinematics model of the mechanical arm was established, and its kinematics positive solutions and inverse solutions were solved using D H transformation. The three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics characteristic analysis of its displacement, velocity and acceleration. The simulation results showed that the design of mechanical arm could meet the massage requirements and its correctness was verified. Using the practical series mechanical arm with parallel end actuators could achieve good massage effect. It provides a theoretical basis for the practicability of Chinese massage robot.关键词
中医推拿机械臂/运动学/D-H变换/仿真Key words
Chinese massage arm/kinematics/Denavit-Hartenberg transformation/simulation分类
机械制造引用本文复制引用
谢俊,张俊,马履中,杨启志,尹小琴..中医推拿机械臂机构设计及运动仿真[J].工程设计学报,2011,18(5):344-348,5.基金项目
国家高技术研究发展计划资助项目(2008AA040205) （2008AA040205）
国家自然科学基金资助项目(50905077) （50905077）
高等学校博士学科点专项科研基金资助项目(2009327120007) （2009327120007）
江苏省博士后基金项目(0901010B). （0901010B）
