按摩机器人控制器的设计与分析-机械设计及理论专业论文.docxVIP

摘 要 随着科技的进步，机器人已从最初的工业领域延伸至各个领域，如农业机器 人、娱乐机器人、医疗机器人等。机器人未来发展趋势是从工厂和实验室发展到 人们的日常生活。随着仿生学的发展和与人协作机器人的需求，使人类与机器之 间的结合更为紧密。 本文研究的按摩机器人是一个基于人机结合技术发展而来的中医治疗或康复 的平台。它结合中医按摩手法和机器人定位精度高，按摩力量精确可控，动作可 准确重复，以及不会产生疲劳等特点。该平台能够按照中医按摩理论实现对人体 进行按摩，提高了人们的生活质量。 本文中选取 SolidWorks 三维建模软件建立了按摩机器人的三维模型；采用 D-H 坐标系建立按摩机器人的数学模型，利用 MATLAB 仿真软件对按摩机器人进行运 动学仿真。 结合按摩机器人控制系统的要求，通过大量的市场调研，详细比较分析系统 中涉及到的硬件种类及其特点，最终确定了硬件类型。 在 ADAMS 中建立虚拟样机模型，并对其物理参数和运动参数进行修改。利 用 MATLAB 和 ADAMS 联合仿真的方法，对按摩机器人的控制系统进行仿真，验 证了控制系统的性能。 综上，本文综合运用结构设计、三维建模、运动仿真和控制系统设计等技术， 针对按摩机器人展开的研究对于提高其开发效率、降低其开发成本，提高其系统 性能具有重要的学术与应用价值。 关键词：按摩机器人；运动学仿真；虚拟样机；控制系统；联合仿真 ABSTRACT With the progress of science and technology, the robots have been extended from the initial industrial field to all fields, such as agricultural robots, entertainment robot, medical robots and so on. The developing tendency of robots is from the factory and laboratory to peoples daily life. With the development of bionics and robot technology, the combination between human and machine is more close. The massage robot we studied, a platform for Chinese medicine treatment or rehabilitation is based on the man-machine joint technology. It combines traditional Chinese medicine massage with the robot features of high positioning accuracy, massage strength accurately controlled, accurate repeated movement, fatigue free and so on. It can massage humans according to Chinese medicine massage theory. This article chooses the SolidWorks, a three-dimensional modeling software, to build a 3D model of the massage robot, adopts the D-H coordinate system to build its mathematical model, and uses the MATLAB simulation software to make kinematics simulation for the robot. This article determines the hardware type of the control system of the massage robot according to its control requirements and the characteristics of the hardware involved through market investigation and survey. In ADAMS, a virtual prototype model of the massage robot is built, and its physical and ki