中文摘要：

作为传统中医特色治疗方法之一，中医按摩效果独特，作用明显，但其与按摩师经验密切相关，难于推广且体力消耗较大。通过分析几种典型中医推拿手法特征，总结出实现各手法所需机构的自由度数目，进而融合并联机构和串联机构的优点，提出一种五自由度完全解耦串并联中医推拿机器人机构；并针对推拿机构中的两移一转三自由度并联机构，详细分析其自由度性质和数目，讨论位置正反解，并求出速度雅可比矩阵。本文所提出的串并联推拿机构运动解耦，控制简单，易于实现预期功能，是对传统中医推拿治疗方法的有益探索。

英文摘要：

As one of the treatment methods of traditional Chinese medicine characteristics, the effect of Chinese massage is special and obvious. But it is closely related with massagists＇ experience, popularized hard and drained on physical strength hugely. This paper analyzed typical features of several Chinese Massage techniques, and summarized the number of DOF that the completion of those techniques was required. To compromise the merits of both the parallel mechanism and the serial mechanism, a novel 5-DOF fully decoupled serial-parallel Chinese massage robot mechanism was presented. For the 3-DOF with two translations and one rotation parallel mechanism in massage mechanism, the nature and the number of DOF was analyzed in detail, and the direct and inverse solutions were discussed. The speed of the Jacobi matrix was obtained. The movement decoupling this serial-parallel Chinese massage robot mechanism presented here is greatly simplified in control. It can realize the expected function easily and also be a beneficial exploration of the traditional Chinese medicine massage treatment.