推拿机械臂, 型综合, 工作空间, 图解法, 蒙特卡罗原理

Based on the Chinese medical massage manipulation of pressing, kneading, rolling, and vibrating method, from aspects of type-synthesis and dimension-synthesis, the design rules of mechanical arm of Chinese medical massage manipulator were introduced. At the same time, the massage mechanical arm’s kinematics model was established by means of the homogeneous coordinate transformation using the Denavit-Hartenberg coordinate system. Its forward kinematics was solved. The workspace of this Chinese medical massage arm was analyzed by graphical approach. It shows that the length of upper arm and forearm of this kind of Chinese medical massage arm must be equal. The workspace of this Chinese medical massage arm was also portrayed based on the Monte Carlo principle through programming on MATLAB. It indicates that the working points in the workspace of this massage mechanical arm are distributed compactly and uniformly, which can satisfy the Chinese medical massage requirements with high efficiency.

massage mechanical arm, type-synthesis, workspace, graphical approach, Monte Carlo principle