Jixie chuandong (Feb 2025)
Kinematics analysis and simulation of massage robots based on 3-UPS/PPR
Abstract
ObjectiveAiming at the problems such as the differences in the massage effects of different practitioners and the large physical consumption of traditional Chinese medicine, based on the engineering analysis of typical massage techniques, a kind of massage robot with a 3-UPS/PPR parallel mechanism as the core was proposed, so that it can complete the massage techniques instead of the practitioner.MethodsFirstly, the degree of freedom analysis of the mechanism was carried out by using the spiral theory and verified by using the K-G formula. Then, the closed vector method was applied to solve its position inverse solution, the Jacobian matrix model was established, and the singularity analysis was conducted. The workspace of the mechanism was solved using the limit boundary search method, along with the analysis of its motion/force transfer performance. Finally, tapping, rubbing, rolling and other maneuvers were simulated by using the Adams software.ResultsThe results show that the mechanism can realize 2T1R three degrees of freedom without accompanying motions, and the workspace is internally continuous without fault cavities, with no singular positions and excellent transfer performance. Through the introduction of cha-constrained branched chain to improve the smoothness of massage manipulation, the structure is relatively simple, which is an effective attempt for the engineering of traditional Chinese medicine massage manipulation.
