基于并联机构中医推拿机器人机型研究

 在对中医推拿手法运动学研究的基础上，依据中医推拿手法运动学特征并结合并联机构的特点，提出基于并联机构中医推拿机器人机型及输出矩阵。对基于三平移三转动并联机构、三平移两转动并联机构、两平移三转动并联机构、两平移两转动并联机构、两平移一转动并联机构的中医推拿机器人进行了概念设计，并利用Pro/E软件构建出各机型虚拟样机。最后从动平台输出矩阵、控制解耦性、结构对称性、工作空间及转动能力等方面对各机型进行了分析总结。为各中医推拿机器人的实际应用提供了理论依据。

Research on mechanism types of traditional Chinese medical massage manipulators based on parallel mechanisms

Grounded on study on kinematics of Traditional Chinese Medical Massage(TCMM) techniques,mechanism types and output matrix of TCMM manipulators on the basis of parallel mechanisms are presented according to the kinematics characteristics of TCMM techniques and parallel mechanisms.Concept designs were accomplished on TCMM manipulators based on parallel mechanisms with three translational and three rotational freedom degrees,with three translational and three rotational freedom degrees,with three translational and two rotational freedom degrees,with two translational and three rotational freedom degrees,with two translational and two rotational freedom degrees and with two translational and one rotational freedom degree.Furthermore,virtual prototypes are established by utilizing Pro/E.Finally,the characteristics of each mechanism type are summarized from the aspects of output matrix of moving platform,controlling and decoupling,structure symmetrical characteristic,workspace,rotational ability and so on, which provides theoretic references for practical application of each mechanism type.