仿人按摩机器人手臂结构设计及改进

摘要

仿人按摩机器人手臂是以传统中医按摩理论为基础,结合机器人定位精度高,按摩力量精确可控,动作可准确重复,不会产生疲劳等特点,构建了中医按摩机器人平台.机器人手臂是仿人按摩机器人的关键,在深入研究按摩机器人手臂的工作机理基础上,充分考虑手臂的材料、结构和刚度以及手臂反应的灵活性、稳定性、安全性、拟人化等要求,对大臂、肩关节、肘关节、小臂、手腕等关键环节进行了设计及改进.经过性能对比分析,设计的仿人按摩机器人手臂达到设计要求.%Based on the theory of traditional Chinese massage,humanoid massage robot arm is designed because of its high positioning precision, accurate and controlled massage strength as well as motion accurate repeatability and no fatigue occurrence to construct a Chinese massage robot platform. The robot arm is the key of humanoid massage robot. The key segments such as big arm,shoulder joint,elbow joint,forearm and wrist were designed and improved based on in-depth study of the working mechanism of robot,with consideration of the arm's requirements in material,structure ,stiffness and flexibility,stability,security,personifiation.Afier comparative analysis of perormance for robot,it is verified that the designing of humanoid robot arm massage could meet the design requirements.