一种中医按摩机器人控制系统的研制

发布时间：2018-04-08 19:00

本文选题：中医按摩机器人　切入点：按摩装置　出处：《山东建筑大学》2017年硕士论文

【摘要】：随着社会发展与医疗水平的不断提高,老龄化已经成为一个全球现象,中国作为发展中国家面临的人口老龄化问题更为严重,老龄化加剧带来的失能、患病老人增多的问题与我国目前医疗服务行业发展不完善之间的矛盾将会日益加剧。随着科学技术水平的不断提高与机器人技术的日益成熟,服务型机器人的出现成为这一社会矛盾的最佳解决方案。中医按摩理疗作为一种辅助疗法已在世界范围内被广泛接受,并在治疗中老年慢性疾病方面取得了不错的效果。因此,如何将中医按摩理论成功应用于机器人中成为了研究的新热点。目前市场上流行的按摩理疗设备功能单一而且智能化程度不高,更不能完全代替按摩师进行按摩理疗,因此研制中医按摩机器人有着深远的理论意义与社会意义。在国家863计划的支持下,山东建筑大学机器人技术与智能系统研究院近几年开展了中医按摩机器人的研究,目前已经完成两代中医按摩机器人的研制。本文在前两代按摩机器人的基础上进行了第三代中医按摩机器人的研制,进行了按摩机器人的系统结构设计,其中对控制系统进行了重点的研究与设计。本文的主要研究内容有:1、阐述了本课题研究的背景与意义,并研究介绍了按摩机器人的国内外研究现状;2、介绍了中医按摩机器人的功能实现,并对机器人系统的整体结构与运动控制系统进行了设计,,进而根据系统需求完成了运动控制器、电机驱动模块、电源模块、传感器以及上位机等设备选型与按摩机器人的按摩装置设计3、根据中医按摩机器人整体结构,运用D-H建模的方法建立了按摩机器人的运动学模型,并完成了按摩机器人的运动学坐标系的建立,对按摩机器人的运动学正、逆解进行了分析和研究,最后运用MATLAB进行了仿真验证;4、为了能够使机器人系统满足安全性、可靠性、舒适性的要求,对机器人柔顺控制方法进行了研究,并将阻抗控制算法应用到按摩机器人中,建立了按摩机器人的动力学模型,运用MATLAB和ADAMS进行了中医按摩机器人阻抗控制策略的仿真验证;5、介绍了按摩机器人运动控制系统的软硬件实现,主要包括按摩机器人控制系统的电气设计和控制系统软件编程实现,最后对上位机的设计实现进行了介绍;6、最后,对中医按摩机器人系统进行了调试,并以腰间盘突出病症为例,结合腰间盘突出的病症分析和中医推拿手法理论知识,对中医按摩机器人按摩手法进行了临床试验验证。本课题将传统中医按摩手法与机器人技术相结合研制了中医按摩机器人,能够代替按摩师进行按摩理疗,可有效改善目前医疗保健资源有限与人口老龄趋势严重的社会现状,具有较高的推广应用价值。
[Abstract]:With the continuous improvement of social development and medical treatment, aging has become a global phenomenon. China, as a developing country, is facing a more serious problem of population aging.The contradiction between the increasing number of sick elderly and the imperfect development of medical service industry in China will be intensified day by day.With the development of science and technology and the maturity of robot technology, the emergence of service-oriented robot has become the best solution to this social contradiction.Chinese massage physiotherapy as an auxiliary therapy has been widely accepted in the world, and has achieved good results in the treatment of chronic diseases in the middle-aged and the elderly.Therefore, how to apply traditional Chinese medicine massage theory to robot has become a new research hotspot.At present, the popular massage physiotherapy equipment in the market has a single function and not a high degree of intelligence, so it is of profound theoretical and social significance to develop a massage robot in traditional Chinese medicine.With the support of the National 863 Program, the Research Institute of Robot Technology and Intelligent Systems of Shandong Construction University has carried out the research of traditional Chinese medicine massage robot in recent years, and has now completed the development of two generations of traditional Chinese medicine massage robot.Based on the previous two generations of massage robots, the third generation of traditional Chinese medicine massage robots has been developed, and the system structure of the massage robots has been designed, among which the control system has been studied and designed emphatically.The main research contents of this paper are as follows: 1. The background and significance of this research are expounded, and the present research situation of massage robot both at home and abroad is introduced, and the function realization of traditional Chinese medicine massage robot is introduced.The whole structure and motion control system of the robot system are designed, and the motion controller, motor driving module and power supply module are completed according to the system requirements.According to the whole structure of traditional Chinese medicine massage robot, the kinematics model of massage robot is established by using D-H modeling method.The kinematics coordinate system of the massage robot is established, the kinematics forward and inverse solutions of the massage robot are analyzed and studied. Finally, the simulation verification is carried out with MATLAB, in order to make the robot system meet the security and reliability.The requirements of comfort, the robot compliance control method is studied, and the impedance control algorithm is applied to the massage robot, and the dynamic model of the massage robot is established.The impedance control strategy of traditional Chinese massage robot is simulated and verified by MATLAB and ADAMS. The hardware and software realization of the motion control system of massage robot is introduced.It mainly includes the electrical design of the control system of the massage robot and the realization of the software of the control system. Finally, the design and realization of the upper computer are introduced. Finally, the system of the massage robot of traditional Chinese medicine is debugged.Taking lumbar disc herniation as an example, combined with the analysis of lumbar disc protrusion and the theoretical knowledge of Chinese massage manipulation, a clinical experiment was carried out to verify the massage manipulation of traditional Chinese medicine massage robot.This subject combines the traditional Chinese medicine massage technique with the robot technology to develop the traditional Chinese medicine massage robot, which can replace the masseuse for massage physiotherapy, and can effectively improve the current social situation of limited medical and health care resources and the serious trend of aging population.It has high value of popularization and application.
【学位授予单位】：山东建筑大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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