Study of the Traditional Chinese Medicine(TCM) Massage Robot Based on the Hybrid Mechanism to Obtain Rolling Treatment

摘要

It is presented a new 5-DOF 4SPS+1RCRR parallel robot mechanism based on the analysis on the DOF of the rolling method and the press-kneading method in TCM. A new hybrid robot with series-parallel mechanism adding a rolling massage part on the moving platform is presented because of the high frequency of the rolling method. The parallel mechanism fulfills the 3-DOF translational motion, while the rolling part fulfills the rolling 1-DOF rolling motion. It is analyzed the topology structure of the robot, the kinematic solutions of the parallel mechanism, the kinematic properties of the rolling part. The robot model is simulated in the ADAMS software. It is showed that the robot can not only avoid the high frequency of the prismatic pair but also fulfill the TCM rolling massage demand