Design And Development Of Flexible Traditional Chinese Medicine Massage Of Flapping Robot

With the continuous improvement of science and technology and the increasing maturity of robotics,the national support for massage robot research has increased,and the technical research related to TCM robots has gradually become one of the focuses of attention in recent years.Most of the research on TCM robots is based on kneading techniques,but there is less research on robots that can implement tapping techniques.At present,the majority of TCM robots with tapping functions are bed robots,which have problems such as high manufacturing costs,large size of the device,difficulty in placing and moving it,and failure to meet the requirements of tapping therapy in terms of strength and frequency of tapping.Therefore,in this paper,we propose a flexible TCM patting robot based on TCM patting techniques,which can adapt to height errors and be easily moved and fixed.Firstly,we establish the engineering model of TCM patting technique,analyze the design requirements of flexible TCM patting robot,propose a flexible end patting mechanism combining flexible rotary joint and crank rocker mechanism,and design two types of posture adjusting mechanism according to different application environments,and form a standing patting robot and a mobile patting robot with the patting mechanism.The kinematic modeling and theoretical analysis of the flapping mechanism are carried out to verify the rationality of the structural design.Secondly,the dynamics model of the tapping mechanism is established,and the torsion spring of the flexible rotating joint is designed parametrically to ensure that the device can rely on inertia for stable tapping work.The kinetic parameters of the tapping mechanism’s going and return travels are analyzed to verify the feasibility of the device to execute the tapping action,and the working principle and numerical analysis results are used to plan the tapping mechanism motor rotation speed during operation.Again,the tapping robot control system is designed,and the functional requirements of the control system are analyzed according to the tapping robot workflow requirements,and the software and hardware systems of the two tapping robots are designed.The hardware system includes the circuit design of the main control board with the microcontroller as the CPU,hardware selection and the design of the main control PCB board,and the software system includes the design of the main control board microcontroller program and the development of the remote control APP of the tapping robot.Finally,the tapping robot system is built,including the prototype,circuit board and software system,and the tapping force measurement experiment platform is built,and the tapping speed effect on the tapping force experiment and the manual and robot tapping force comparison experiment are conducted to verify the tapping force match between the tapping robot and the manual tapping,to verify the correctness of the theoretical analysis and dynamics simulation analysis,and to show the feasibility of the tapping robot to replace the manual tapping massage.