Intelligence Self-Propelled Planar Parallel Robot for Sliding Cupping-Glass Massage for Back and Chest

摘要

There are numerous examples of effective using of sliding cupping-glass massage for disease prevention, treatment, rehabilitation, and removal of weariness. This is kind of massage including combination influences to patient's back and chest by cupping-glasses and massage. However, work of masseur is connected with a big physical stress that can be cause of pathological changes in spine. Moreover, masseur can make the massage only with one patient by two hands. As a result daily productivity of the masseur is limited. Therefore advanced intelligence carried massage robots are needed for sliding cupping-glass massage, being able to work autonomously without the presence of the masseur. A comparative analysis of modern robots is performed (including anthropomorphic one/two-armed massage robots) and any suitable robots for autonomous sliding cupping-glass massage haven't found. Therefore in this paper, a novel approach to a creation of intelligence self-propelled autonomous portable massage robot based on original planar parallel mechanism is presented. The planar massage robot based on triangular parallel structure with 3 d.o.f., called the Triangle, is designed for sliding cupping-glass massage for back and chest. Main massage manipulations of robot are presented along with a description of proposed locomotion algorithms. Locomotion and manipulation experiments are performed by pneumatic prototypes.