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

针对中医推拿的按、揉、滚、振4 种推拿手法，从型综合方面对推拿机器人机械臂进行结构设计，采用Denavit-Hartenberg法，通过齐次坐标变换，建立了机械臂的运动学模型，并对其正运动学方程进行了求解。基于图解法对推拿机械臂工作空间进行分析，得知推拿机械臂大小臂长度应相等。同时，基于蒙特卡罗原理，通过MATLAB编程对六自由度推拿机械臂的工作空间进行了数值解的描绘，结果表明，推拿机械臂的工作空间内部工作点密集且分布均匀，满足推拿动作高效作业的要求。

推拿机械臂, 型综合, 工作空间, 图解法, 蒙特卡罗原理