中文摘要：

针对中医推拿按摩的特点及常用推拿手法之滚、振、摩、按、揉的运动学和动力学特征的分析,提出一种实用串联机械臂用以配合并联机构的末端执行器实现常见推拿手法的设计方案.串联机械臂提供按摩的位置和姿态,并联机构作为推拿末端执行器实现推拿手法.该设计方案结合了串并联机构的优点,保证机构有足够的刚度、精度和工作空间完成推拿动作.建立了机械臂的运动学模型,利用D-H变换求解其运动学的正解和逆解.利用Pro/E建立机械臂的三维模型,导入ADAMS就其位移、速度、加速度等运动学特征进行模拟和分析,仿真结果表明机械臂的设计符合推拿的要求,验证了机械臂设计的正确性.利用该实用型串联机械臂配合并联末端执行机构可获得较好的推拿效果,为中医推拿机器人的实用化提供了理论依据.

英文摘要：

According to the characteristics of Chinese traditional massage and the analysis of kinematics and dynamics characteristics of common massage manipulations： rolling,vibrating,rubbing,pressing and kneading,a design scheme was put forward,in which a kind of practical series mechanical arm with parallel mechanism at the end of the actuator realized the common massage manipulation.Series mechanical provided massage position and posture,and parallel mechanism realized massage manipulations as the massage end actuator.The design combined the advantages of series-parallel mechanism,guaranteeing mechanism have enough rigidity,precision and working space movements.The kinematics model of the mechanical arm was established,and its kinematics positive solutions and inverse solutions were solved using D-H transformation.The three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics characteristic analysis of its displacement,velocity and acceleration.The simulation results showed that the design of mechanical arm could meet the massage requirements and its correctness was verified.Using the practical series mechanical arm with parallel end actuators could achieve good massage effect.It provides a theoretical basis for the practicability of Chinese massage robot.