Paper Title:
Type Synthesis and Workspace Analysis of a Novel Series Chinese Medical Massage Arm
  Abstract

Based on the Chinese medical massage manipulation of rolling, pressing, kneading and pushing, the serial mechanical arm with six rotational joints and the end actuator with 3-DOF parallel mechanism are selected, and a new type of hybrid massage robot is proposed. The type synthesis of this massage arm is designed from two aspects, the arm and the wrist. 6R serial joint massage arm is adopted. Using Denavit-Hartenberg coordinate system, the kinematics model of this massage robot is established and the direct kinematic problem is solved by homogeneous coordinate transformation. The workspace of this Chinese medical massage arm is analyzed by the graphical approach. It shows that the length of upper arm and forearm of this kind of Chinese medical massage arm should be equal to make the work section largest. The workspace of this Chinese medical massage arm is also portrayed based on the Monte Carlo principle through programming on MATLAB. It indicates that the working points in the workspace of the manipulator are distributed compactly and uniformly, which can satisfy the Chinese medical massage requirements with high efficiency.

  Info
Periodical
Edited by
Long Chen, Yongkang Zhang, Aixing Feng, Zhenying Xu, Boquan Li and Han Shen
Pages
78-83
DOI
10.4028/www.scientific.net/AMM.43.78
Citation
J. Xie, L. H. Kuang, "Type Synthesis and Workspace Analysis of a Novel Series Chinese Medical Massage Arm", Applied Mechanics and Materials, Vol. 43, pp. 78-83, 2011
Online since
December 2010
Export
Price
$35.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Jing Zhou Song, Guan Ji Wang, Han Xu Sun, Qing Xuan Jia
Chapter 5: Mechatronics, Industrial Robotics and Control Technology
Abstract:In order to improve the response effectiveness, extend the workspace of parallel manipulator and make it more conveniently to be used in...
567