测试技术学报2025，Vol.39Issue(4)：439-448,10.DOI:10.62756/csjs.1671-7449.2025055
螺旋灸法机器人的系统设计及控制方法
System Design and Control Method of Spiral Moxibustion Robot
摘要
Abstract
Thunder-fire moxibustion belongs to a kind of moxibustion.The efficacy of thunder-fire moxi-bustion is closely related to the moxibustion methods.Different ailments require different methods.Spi-ral moxibustion,as a thunder-fire moxibustion method,has a great therapeutic effect on many ailments.In addition,manually spiral moxibustion has the problem of poor accuracy and temperature control,but the current equipment that can replace manual moxibustion treatment can not realize the spiral moxibustion method.In this study,a control method is designed to simulate the spiral moxibustion method of tradi-tional Chinese medicine,which was applied to moxibustion robots.CoppeliaSim is used to simulate the trajectory planning of the robotic arm for spiral moxibustion and the Modified D-H parametric method is used to establish the kinematic equations of the robot.Then the positive kinematics analysis and cubic polynomial trajectory planning are used to control the real moxibustion robot.Finally,through real robotic arm testing,the actual trajectory error of 30 spiral moxibustion methods is obtained,which is within the allowable range of error.Therefore,the motion accuracy of the spiral moxibustion control method meets the requirements of most moxibustion applications effectively.关键词
雷火灸/螺旋灸法/艾灸机器人/轨迹规划/运动学分析Key words
thunder-fire moxibustion/spiral moxibustion/moxibustion robot/trajectory planning/kine-matic analysis分类
信息技术与安全科学引用本文复制引用
徐龙军,张志东,张天生,薛晨阳,郝重耀..螺旋灸法机器人的系统设计及控制方法[J].测试技术学报,2025,39(4):439-448,10.基金项目
山西省中医药强省专项(204-110457) （204-110457）
山西省针灸医院智能艾灸机器人项目(HCZB2021110) （HCZB2021110）
