Design And Research Of Traditional Chinese Medicine Massage Manipulator

With the acceleration of the pace of life and the intensification of the aging of the population,there are more and more patients with related diseases such as lumbar and cervical spine.In the face of the rapid increase in demand in the medical care industry,it is developed by integrating traditional Chinese massage theory and robotics.Massage robots have received widespread attention.They can not only provide patients with corresponding rehabilitation physiotherapy services,but also enhance their physical fitness and improve their physical condition.Aiming at the problems of existing massage robots in terms of functionality,movement flexibility and convenience,this article designs a multifunctional Chinese massage with a new structure on the basis of a full investigation of the research status at home and abroad and related theories of traditional Chinese massage Manipulator,and the following main tasks are carried out around it:First of all,based on the traditional Chinese massage theory,the motion coordinate system of human body massage was established and the motion characteristics of various massage techniques were obtained;the related theories of massage were explored,including the research on the skin soft tissue model in the massage environment and the finger joints.The study of the movement law lays a theoretical foundation for the structure design of the massage manipulator;the comprehensive massage theory and the analysis of the hand structure characteristics have determined the bionic structure scheme of the massage manipulator and carried out a kinematic analysis of its arm.Secondly,complete the establishment of the three-dimensional model of the massage manipulator and the determination of the main dimensions,and introduce the functions of each module of the massage manipulator,and analyze the realization of its motion function under different massage techniques;analyze the static mechanics of the key structure of the massage manipulator through ANSYS simulation Performance to verify the rationality of its structural design and material selection;Lagrangian method is used to establish the dynamic equation of the massage manipulator and determine its performance influence coefficient;based on the ADAMS environment to establish a virtual prototype of the massage manipulator and apply it to different massage techniques The dynamics of the movement process is simulated to analyze the feasibility of its technique.Then,carry out the design of the TCM massage manipulator control system scheme,complete the hardware selection and function introduction of each module of the system;in order to realize the stable control of the massage manipulator movement process,study the control modes under various massage techniques and complete the host computer control interface The design of BP neural network based on ant colony algorithm is used to train the relative coordinates of human acupoints,and the positioning function of massage acupoints is completed.Finally,complete the production of the prototype of the traditional Chinese medicine massage manipulator and the construction of the massage experimental platform,and the theoretical model is tested and verified.Carry out the knuckle posture adjustment test on the massage manipulator,and verify the feasibility of the physical prototype massage through the human massage test under different massage techniques;perform the pressure collection test on the massage manipulator to test its pressure output characteristics,by collecting human electromyographic signals and Combined with the post-massage questionnaire survey,the evaluation of the massage effect of the massage manipulator is completed,and the correctness and rationality of the design of the Chinese medicine massage manipulator are verified through performance testing and massage evaluation.