摘要
针对中医推拿中振法、按法、揉法、滚法等按摩操作手法,分析要实现这四种按摩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ADAMS软件从按摩手法中的滚法所需的摆动幅度以及同等按摩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。
In the light of Chinese medical massage techniques——fluttering method,pressing method,kneading method and rolling method,the degrees of freedom（DOF） and application of force of every Chinese massage technique were obtained.According to the DOF,a general design was proposed,particularly,a great variety of parallel mechanisms.The required swing range and driving force parameter of these parallel mechanisms based on rolling method by ADAMS were obtained,and the best one was chosen and made.The kinematical simulation curves which verified the validity of theoretical analysis were given by ADAMS.Thus,its kinematical performance is fine,and inverse solution and positive solution are simple.It may provide the way for the robot control and commercialization.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2010年第24期2899-2903,共5页
China Mechanical Engineering
基金
国家高技术研究发展计划(863计划)资助项目(2008AA040205)
高等学校博士学科点专项科研基金资助项目(2009327120007)
关键词
并联机构
结构优选
运动学
仿真
parallel mechanism
choosing optimum
kinematics
simulation
