中文摘要：

针对中医的按、揉、滚、振4种推拿手法,进行了运动学和动力学特征的分析,基于分析结果进行了机械臂的选型,提出一种新型的混合型推拿机器人,并对该机械臂的运动学正反解进行了计算和分析。利用Pro/E对机械臂进行建模,通过Mechanism/Pro模块导入ADAMS/view模块中进行运动学仿真与分析。结果表明该机械臂能较好地模拟中医推拿师的推拿动作,且具有良好的运动特性。

英文摘要：

Based on the four kinds of massage manipulations as rolling,pressing,kneading and pushing in Chinese medical massage,the kinematics and dynamics characteristics analysis were carried out.The mechanical arm selection was conducted based on the analysis result,and a new type of hybrid massage robot was proposed.The analysis and calculation of kinematics forward and inverse resolutions of the mechanical arm were completed.The model of mechanical arm was built by using Pro/E,and it was imported to ADAMS/view module through Mechanical/Pro to carry out kinematics simulation and analysis.The results showed that the mechanical arm can simulate the masseur＇s massage movements very well and with smooth movement characteristics.