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Serial-parallel TCM massage robot

A robot and parallel technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inflexible rotation, small work space, and difficult control, and achieve sensitive and rapid movements, increased work space, and decoupling Good results

Inactive Publication Date: 2006-03-08
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robot can use the parallel mechanism to complete several mainstream methods of traditional Chinese medicine massage, but there are disadvantages such as poor decoupling, difficult control, small working space and inflexible rotation.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] figure 1 The three-degree-of-freedom parallel mechanism consists of a virtual triangle fixed platform ABC, an isosceles triangle moving platform A'B'C', and three branch chains AA"A', BB"B', CC"C' connecting the virtual fixed platform and the moving platform. .The branched chain AA"A' is R∥R∥C, the branched chain BB"B' is R⊥R∥R∥R, and the branched chain CC"C' is S-S-R. The axis of rotary pair B is parallel to the axis of rotary pair C and perpendicular to the guide line of cylindrical pair A. Establish the coordinate system as shown in the figure: the moving coordinate system is set on the moving platform A'B'C', the origin O' is located at the midpoint of A'B', the Y' axis is selected on the A'B' axis, and the Z' axis Perpendicular to the moving platform, the fixed coordinate system is set on the virtual fixed platform ABC, the Y axis is selected on the guide rail AB line, and OA is equal to O'A', the Z axis is perpendicular to the upper platform, and the X' axis and ...

Embodiment 2

[0026] The three-degree-of-freedom parallel mechanism consists of a virtual triangle fixed platform ABC, an isosceles triangle moving platform A'B'C' and three branch chains AA"A', BB"B', CC"C' connecting the fixed platform and the moving platform. Among them, the branched chain AA"A' is R∥R∥R⊥(4r) (4r is a parallelogram mechanism); the branched chain BB"B' is R⊥R∥R∥R; the branched chain CC"C' is S-S-R. The axes of the four rotating pairs (4r) and the rotating pair B of the parallelogram mechanism are parallel to the axis of the rotating pair C. According to the mechanism configuration, by analyzing the motion characteristics of each branch chain, it is concluded that the moving platform of the parallel mechanism has 3 degrees of freedom relative to the fixed platform: 2 moving and 1 rotating.

[0027] The series-parallel TCM massage robot mechanism is attached Figure 4 shown. Will image 3The virtual fixed platform ABC of the three-degree-of-freedom parallel mechanism is ...

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Abstract

An herbalist doctor massage robot is disclosed, the main body of which is a parallel arrangement of two displacement units and one rotation unit. The dummy fixation platform of the parallel arrangement is connected with the frame through a moving pair, a message arm is fitted on the moving platform to fulfill various message means such as rolling, pushing, vibrating and beating etc., if a rotating pair is fitted on the moving platform and a message arm is fitted on the axle of the rotating pair, the message means such as rubbing, pressing and kneading can be realized. The is assisted with sensor, control system, heating, magnetic and infrared etc. means.

Description

technical field [0001] The present invention relates to medical machinery, especially a new type of series-parallel TCM massage robot composed of the characteristics of series mechanism and parallel mechanism, which can meet the kinematics and dynamics requirements of several mainstream methods of TCM massage therapy. The robot is supplemented by sensors, The control system and the "hand" part installed on the parallel mechanism dynamic platform can be used for Chinese medicine massage therapy with auxiliary means such as "heat", "magnetism" and "infrared rays". It belongs to space series robots, parallel robots, robot control and Chinese medicine medical equipment modern research field. Background technique [0002] Chinese massage, also known as massage, is a physical therapy method. It is guided by the theory of traditional Chinese medicine, especially the meridian theory, emphasizing that there is an organic internal connection between the surface of the human body thro...

Claims

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Application Information

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IPC IPC(8): B25J9/02B25J9/08B25J19/02
Inventor 马履中余顺年杨启志朱伟
Owner JIANGSU UNIV
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