The invention discloses a three-degree-of-freedom series-parallel type
robot for
traditional Chinese medicine manipulation and
massage. The three-degree-of-freedom series-parallel type
robot for the
traditional Chinese medicine manipulation and
massage comprises a movable base plate, a lifting device, an in-parallel support and a
massage enforcement division. The lifting device is used to adjust heights of the in-parallel support and the massage
enforcement division, the in-parallel support is a 4 HRU type in-parallel mechanism of
two degrees of freedom with one translation and one rotation, and the massage
enforcement division can choose a profile modeling massage finger and a column type massage head to realize manipulation and massage movements by a man hand or an
elbow portion and enforces the manipulation and massage movements such as
vertical vibration massage, transverse tumbling, rotary massage and any combination based on the three basic massage
modes to
human body parts. The three-degree-of-freedom series-parallel type
robot for the
traditional Chinese medicine manipulation and massage can overcome the defects of the prior art and has
three degrees of freedom with one translation and two rotations; the profile modeling massage finger can be adjusted with high flexibility and bio-fidelity and strong in
adaptation towards the
human body manipulation and massage parts; the three-degree-of-freedom series-parallel type robot for the traditional Chinese
medicine manipulation and massage also has the advantages of being good in decoupling property of mechanism movements, steady and reliable in work, compact in structure, convenient to operate and maintain, high in safety and the like.