中医推拿机器人末端执行器工作空间分析

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构造了一种新型中医推拿机器人末端执行器的结构形式．通过坐标变换，建立了机构的运动学模型，并进行了反解分析．针对推拿机器人的手法要求，探讨了结构参数对该并联机构工作空间的影响规律，为工作空间的综合提供了依据．基于蒙特卡罗原理，通过MATLAB编程对此并联机构的工作空间进行了数值解的描绘．并利用Pro／E建立末端执行器机构的三维模型，导入ADAMS就其运动轨迹进行模拟和分析，仿真结果表明中医推拿机器人末端执行器的设计符合推拿要求，验证了机构设计的正确性．推拿机器人末端执行器的工作空间内部工作点密集且分布均匀，满足推拿动作高效作业的要求，为中医推拿机器人的实用化提供了理论依据． A novel end-effectors of Chinese massage robot was constructed. The massage robot＇s kinematics model was established by means of the homogeneous coordinate transformation and inverse positions of the mechanism were investigated. Based on the Chinese medical massage manipulation, the structural parameters of the parallel mechanism workspace influence rule was discussed, which provided the foundation for workspace synthesis. The workspace of this Chinese medical massage robot was portrayed based on the Monte Carlo principle through programming on MATLAB. The three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the movement locus. The simulation results showed that the design of end-effec- tors of Chinese massage robot could meet the massage requirements and its correctness was verified. It indicates that the working points in the workspace of this massage mechanical robot are distributed compactly and uniformly, which can satisfy the Chinese medical massage requirements with high efficiency. It provides a theoretical basis for the practicability of Chinese massage robot.