Metamorphic Mechanism Analysis of a Chinese Massage Robot End-Effector

摘要

This paper introduces a Chinese massage robot metamorphic end-effector composed by parallel and serial mechanism, the numbers of whose driving elements, driven elements and kinematic pairs are variable, which can work in four different ways of Chinese medical massage techniques. In this paper, the principles of motions, mechanism composition, motion characteristics, metamorphic methods and configuration variable changes of four common massage techniques are analyzed. This metamorphic endeffector has been used in a National High Technology Research and Development Supported Program in China.