中医按摩机器人设计及信号提取毕业设计.docVIP

摘要 随着科学技术的不断进步与发展，中医推拿作为传统中医治疗的重要组成部分，却仍由有经验的按摩师人工进行。近年来，虽然人们研制了许多推拿按摩器械，丰富、扩大了推拿保健和治疗的范围。但因机械力度难以掌握，振动频率不易控制，许多器械推拿还不能达到高水平推拿师手法治疗的效果。所以开发智能推拿机构，可望继承和发扬中医推拿技巧，使古老推拿术得到较大的推广。 首先，介绍了中医按摩历史及手法对中医推拿手法做了运动学特征分析，得出中医推拿手法的运动特征和频率。 其次在此基础上分析了推拿机器人所需要的自由度数目和机构运动输出矩阵，得出了推拿构的基本设计原则。根据此原则，设计了三平移两转动并联机构推拿机构。并联机构推拿机器构更有利于实现推拿动作。 最后，用数据手套对按摩信号进行了提取分析。 关键词：并联机构；按摩手法；信号提取；数据手套。 ABSTRACT With the continuous progress and development of the science and technology, as an important component of the traditional Chinese medicine therapy Traditional Chinese Medical Massage are still done by experienced massagists of Chinese medicine. In recent years, a lot of Massage equipments have been developed that enriches and expands care and treatment of Massage. But because of grasping mechanical strength difficultly, quite difficult to control the rate of vibration, many massage instruments can not achieve the high level of the advanced massage surgeon. So the development of massage manipulator is expected toinherit and carry forward the skills and effects of massage, and making agreat development of the ancient massage technique. Firstly, this paper introduces the history and the Chinese medicine massage manipulation massage technique TCM made kinematic features analysis, Draw Chinese massage technique characteristics of the movement and frequency. Then based on this, analyzes on the massage agency needs freedom number and mechanism motion output matrix is obtained, the basic design principles massage structure. According to this principle, design a 3-dof translational two rotating parallel mechanism massage institutions. Parallel mechanism massage machine structure is more advantageous to realize massage action. Finally, using data glove to massage the signal has extraction analysis Keywords: parallel mechanism; Massage technique; Signal extracted; Data glove. 目录 摘要 I ABSTRACT II 目录 I 1.1中医按摩的历史 1 1.1.1按摩术的起源 1 1.1.2按摩术的形成 1 1.1.3按摩术的发展 1 1. 2本课题研究背景内容 3 1. 3本课题研究目的