推拿机械臂的结构改进与灵巧手设计

发布时间：2018-03-15 22:19

本文选题：老龄化　切入点：推拿　出处：《江苏大学》2017年硕士论文　论文类型：学位论文

【摘要】：目前,全球老龄化形势日趋严峻,我国作为人口最多的发展中国家,老龄化问题尤其严重,患病老人对医疗和保健的巨大需求,成为我国必须面对的重大问题之一。当然,也给医疗机器人带来了前所未有的发展机遇。中医推拿疗法作为中国传统医学的重要组成部分,具有应用范围广、疗效突出、副作用少,普遍适用于老年、青少年、儿童、妇女等优点,对多种疾病卓有成效,长期以来为华夏民族的健康做出了卓越贡献。然而,中医推拿由于因人因病施治,对推拿师的要求较高,推拿时间过长,消耗体力过大等问题也限制了中医推拿的大范围推广。所以研发推拿机器人具有巨大的社会和经济意义。本文针对推拿机器人的功能特点,在现有推拿机器人的基础上,进一步改进其主体结构并设计出新的推拿灵巧手。具体研究内容如下:首先,了解国内外专家学者对推拿机器人的研究概况,总结现有研究存在的问题和未来推拿机器人的发展趋势,分析常用的推拿手法应该具有的运动学和动力学要求,提出常用推拿手法的功能输出矩阵,并由此设计了中医推拿机器人机械系统和控制系统的总体方案。其次,根据我国成年人人体尺寸标准(GB10000-88)确定推拿机械臂和灵巧手结构的主要尺寸和活动范围,完成机械臂和灵巧手主要的零部件结构设计,建立推拿臂和灵巧手的虚拟样机。同时完成推拿机械臂的外壳设计,解决推拿机械臂定位移动导轨的防尘和安全问题,提升推拿机器人整体的美观性和亲和力。随后,对推拿机械臂和灵巧手的虚拟样机进行位置分析,得到推拿机械臂末端和灵巧手各手指末端在其相应基坐标系中的坐标。利用MATLAB和ADAMS软件对采用的方法和得出的结论进行验证。通过典型手法捏法的运动学分析和仿真,检验推拿机器人机械系统设计方案的可行性。最后,针对推拿机器人的控制系统,完成推拿机器人控制系统的软硬件设计:包括控制器的选型、人机界面模块的设计、电源模块的设计、信息采集模块的设计,以及主程序设计和常用推拿手法的子程序设计。通过机器人组装和控制,实现原理样机的功能演示。
[Abstract]:At present, the aging situation in the world is getting more and more serious. As the most populous developing country, the aging problem is especially serious. The huge demand for medical care and health care for the sick elderly has become one of the major problems that our country must face. As an important part of traditional Chinese medicine, Chinese massage therapy has a wide range of applications, outstanding curative effects, few side effects, and is generally applicable to the elderly, teenagers, and children. The advantages of women, such as women, have been effective in many diseases and have made outstanding contributions to the health of the Chinese nation for a long time. However, due to the treatment of Chinese massage because of human illness, Chinese massage has a higher demand for massage teachers, and the massage time is too long. Therefore, the development of massage robot has great social and economic significance. This paper aims at the functional characteristics of massage robot, based on the existing massage robot. Further improve its main structure and design a new massage dexterous hand. The specific research contents are as follows: first, to understand the domestic and foreign experts and scholars on massage robot research overview, This paper summarizes the problems existing in the present research and the development trend of the massage robot in the future, analyzes the kinematics and dynamics requirements of the common massage manipulations, and puts forward the functional output matrix of the common massage manipulations. Based on this, the general scheme of mechanical system and control system of Chinese massage robot is designed. Secondly, according to the Chinese adult human body size standard GB10000-88), the main dimensions and moving range of massage manipulator and dexterous hand structure are determined. Complete the structure design of the main parts of the manipulator and dexterous hand, establish the virtual prototype of the massage arm and the dexterous hand. At the same time, complete the shell design of the massage arm, solve the dust prevention and safety problems of the massage arm positioning moving guide rail, Enhance the overall beauty and affinity of the massage robot. Then, analyze the position of the virtual prototype of the massage robot arm and dexterous hand. The coordinates of the end of the manipulators and the fingers of the dexterous hand in the corresponding basic coordinate system are obtained. The methods and conclusions are verified by using MATLAB and ADAMS software. The kinematics analysis and simulation of the typical manipulative kneading method are carried out. Finally, for the control system of the massage robot, the hardware and software design of the massage robot control system is completed, including the selection of the controller, the design of the man-machine interface module, The design of power supply module, information collection module, main program design and subroutine design of common massage. Through the robot assembly and control, the principle of prototype function demonstration is realized.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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