中医推拿机器人末端执行器结构优选与运动学分析.pdfVIP

尹小琴 许永根 马履中 陈修祥 龚智强 江苏大学, 镇江, 212013 : 针对中医推拿中振法按法揉法滚法等按 操作手法, 分析要实现这四种按 手法所需的 施力方向和运动自由度根据其所需自由度, 提出总体设计方案, 对并联机构执行器进行了多种机型设 计, 借助ADAM S 软件从按 手法中的滚法所需的摆动幅度以及同等按 力度所需的驱动力参数等方 面进行机型优选, 并对优选机型进行了三维建模和模型制作通过运动学分析与仿真验证, 说明该机构 具有良好的运动学性能, 且位置正反解分析简单, 为后续的机器人控制以及机器人的产品化提供了理论 依据 : ; ; ; : T H 112 : 1004 132X( 2010) 24 2899 05 Choosing Optimum and Kinematical Analysis of End- effectors of Chinese Massage Robot Yin Xiaoqin Xu Yongg en M a Lhong Chen Xiuxiang Gong Zhiqiang Jiangsu University, Zhenjiang, Jiangsu, 2120 13 Abstract: In the light of Chinese medical m assage techniques fluttering m ethod, pressing method, kneading method and rolling method, the degrees of freedo m( DOF) and application of force of every Chinese m assage technique w ere obtained. According to the DOF, a gener al desig n w as proposed, particularly, a great variety of par allel mechanisms. T he required sw ing r ange and driving force parameter of these parallel mechanisms based on rolling method by ADAM S w er e obtained, and the best one w as chosen and made. T he kinem atical simulatio n curves w hich verified the validity of theoretical analysis w ere g iv en by ADAMS. Thus, its kinem atical perform ance is f ine, and inverse solution and positive solution are sim ple. It m ay provide the w ay for the robot control and com merciali atio n. Key words: parallel m echanism; choosing optimum; kinematics; simulation 0 引言 , , , , 1 推拿手法自由度分析及机构选型 1. 1 [ 1] , , , ( , )