| 一种新型的串联中医推拿机械臂的运动学分析 |
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| 引用本文： | 谢俊,匡俐辉,马履中,尹小琴,杨启志. 一种新型的串联中医推拿机械臂的运动学分析[J]. 机械设计, 2011, 28(2) |
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| 作者姓名： | 谢俊 匡俐辉 马履中 尹小琴 杨启志 |
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| 作者单位： | 江苏大学智能机械与机器人研究所,江苏镇江,212013 |
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| 基金项目： | 国家高技术研究发展计划资助项目(2008AA040205); 国家自然基金资助项目(50905077); 高等学校博士学科点专项科研基金资助项目(SRFDP:2009327120007); 江苏省博士后基金项目(0901010B) |
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| 摘 要： | 针对中医的按、揉、滚、振4种推拿手法,进行了运动学和动力学特征的分析,基于分析结果进行了机械臂的选型,提出一种新型的混合型推拿机器人,并对该机械臂的运动学正反解进行了计算和分析。利用Pro/E对机械臂进行建模,通过Mechanism/Pro模块导入ADAMS/view模块中进行运动学仿真与分析。结果表明该机械臂能较好地模拟中医推拿师的推拿动作,且具有良好的运动特性。
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| 关 键 词： | 中医推拿 新型混合型机器人 ADAMS 运动学 仿真 |
Kinematics analysis of a novel series Chinese medical massage robot arm |
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| XIE Jun,KUANG Li-hui,MA Lv-zhong,YIN Xiao-qin,YANG Qi-zhi. Kinematics analysis of a novel series Chinese medical massage robot arm[J]. Journal of Machine Design, 2011, 28(2) |
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| Authors: | XIE Jun KUANG Li-hui MA Lv-zhong YIN Xiao-qin YANG Qi-zhi |
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| Affiliation: | XIE Jun,KUANG Li-hui,MA Lv-zhong,YIN Xiao-qin,YANG Qi-zhi(Institute of Intellectual Machinery and Robot,Jiangsu University,Zhenjiang 212013,China) |
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| Abstract: | Based on the four kinds of massage manipulations as rolling,pressing,kneading and pushing in Chinese medical massage,the kinematics and dynamics characteristics analysis were carried out.The mechanical arm selection was conducted based on the analysis result,and a new type of hybrid massage robot was proposed.The analysis and calculation of kinematics forward and inverse resolutions of the mechanical arm were completed.The model of mechanical arm was built by using Pro/E,and it was imported to ADAMS/view mo... |
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| Keywords: | Chinese medical massage novel hybrid robot ADAMS kinematics simulation |
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