Novel Approach to Creation of Portable Self-Propelled Autonomous Massage Robots with Triangular and Octahedral Parallel Structures

摘要

In this paper, a novel approach to a creation of self-propelled autonomous portable massage robots based on original 2D and 3D parallel mechanisms is presented. A 2D massage robot based on a triangular parallel structure with 3 d.o.f., called a Triangle, is designed for a sliding cupping-glass massage of back and chest. A 3D massage robot based on an octahedral parallel structure with 12 d.o.f., called an Octahedral dodekapod, is designed for a massage of neck, upper and lower extremities, including knee and elbow joints. Benefits of the Triangle and the Octahedral dodekapod with respect to anthropomorphic robots with one or two arms are outlined, along with possible applications for an autonomous massage.