Research On Key Technologies Of TCM Massage Robot

The long history of Chinese medicine massage,which belongs to the physical characteristics of a therapy,can benefit a wide range of groups,very beneficial to health.In addition,the station,shopping malls and other public places can be seen everywhere massage chairs,it can be seen that the national people for the degree of acceptance and preference for massage.However,the existence of massage rehabilitation equipment on the market often has a single massage technique,the shortcomings of little therapeutic effect,and the number of systematically trained and experienced rehabilitation physicians is limited,which forms the problem of shortage of medical resources.How to make the massage process professional,automated and intelligent is the key to solve the problem of shortage of medical resources.In recent years,as the innovative concept of collaborative robotic arm has entered the vision of researchers and engineers,there are more and more cases of applying collaborative robotic arm to the medical field.Among them,the famous ones are da Vinci surgical robot and Emma massage robot.The robotic arm has strong advantages in terms of operational stability and motion repetition.Therefore,this paper provides an in-depth analysis and study of some of the key technologies involved in the development of a TCM massage robot.Firstly,we designed the structure of the robotic arm according to "Robots and robotic devices-Collaborative robots".After that,we determine the relevant hardware to build a complete robotic arm system and conceptualize the working principle and process of the TCM massage robot.Secondly,Catia V5R20 is used to conduct finite element analysis on the linkage of the robot arm,and the strength of the linkage is checked according to the calculation results to further determine whether the structural design of the linkage is feasible.Thirdly,the kinematic model of the six-degree-of-freedom tandem robotic arm is established by using screw theory.The forward kinematic equations of the robotic arm are established using the exponential product formulation,and an inverse kinematic solution algorithm combining the Paden-Kahan subproblem,the posture separation method and matrix theory is proposed.The algorithm has some generality for the robotic arm configuration with three parallel joints.Finally,the algorithm and the kinematic model are validated.Finally,the URDF file of the robotic arm is established,the inverse dynamics equations of the robotic arm are established by the Newton-Euler recursive method using the parameters in the URDF file,and use Adams software to solve the simulation.Through the above research work,the TCM massage robot system is established,and the kinematic and dynamics solutions lay the theoretical foundation for massage robot control.