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Mechanism Design and Analysis of A Foot Massage Robot Shiyu Xiao1,2,a, Hongguang Wang2,b , Donghua Ma3,c , Yong Jiang2,d , Yong Chang2,e and Peitian Cong1,f 1School of Mechanical Engineering, Shen Yang Ligong University, Shenyang 110159, China 2State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3Ningxia Polytechnic, Yinchuan 750021, China axiaoshiyu@sia.cn, bhgwang@sia.cn, cxjymadonghua@126.com, djiangyong@sia.cn, echangyong@sia.cn, f13904049316@163.com Keywords: Massage robot; Optimal design; Serial-parallel mechanism.
[2] Huaixing Wen, Jie Yang and Hui Guo: Journal of Medical Instrumentation (2007).In Chinese
[5] Hiroyuki Ishii, Hiroki Koga and Yuichi Obokawa: Journal of Materials Research (2010) [6] Shunnian Yu, Jinsong Wang and Qizhi Yang: Journal of Mechanical Engineering (2004).In Chinese

Wang Yang [8] found that the main factor of influencing machining deformation was initial residual stress produced in quenching process and the cutting force was low which caused little effect on machining deformation.
Yang, Advanced Areanautical Aluminum Alloy Materials Technology and Application, Beijing: National Defend Industry Press, 2012
Yang, FEM-based Prediction and Control of Milling Deformation for a Thin-wall Web of Ti-6Al-4V Alloy.

References [1] M.S.Yang, Polypropylene Modification and Formula, Chemical Industry Press, China,2009
[2] Y.N.Yang, Plastics Aging and Anti-aging Technology, Chemical Industry Press, China, 2007

.; Yang, Z.; Li, X.; Wang, Z.; Wang, J., Co3O4 /Co nanoparticles enclosed graphitic carbon as anode material for high performance Li-ion batteries.
[18] Zhou, Y.; Guo, H.; Yan, G.; Wang, Z.; Li, X.; Yang, Z.; Zheng, A.; Wang, J., Fluidized bed reaction towards crystalline embedded amorphous Si anode with much enhanced cycling stability.
[24] Yang, Z.; Guo, H.; Li, X.; Wang, Z.; Wang, J.; Wang, Y.; Yan, Z.; Zhang, D., Graphitic carbon balanced between high plateau capacity and high rate capability for lithium ion capacitors.
W.; Jackson, A.; Yang, Y.; Hu, L.; Cui, Y., Stable cycling of double-walled silicon nanotube battery anodes through solid-electrolyte interphase control.
[38] Guo, W.; Wang, Y.; Li, Q.; Wang, D.; Zhang, F.; Yang, Y.; Yu, Y., SnO2@C@VO2 Composite Hollow Nanospheres as an Anode Material for Lithium-Ion Batteries.

(Yang et.al, 2000; Zhang et.al, 2008; Luo & Xing, 1998; Sun, 2007) According to the tensile characteristics of clay and features of soil test, this paper prepared the samples by 2 different methods with conventional tools and conducted the tension tests by a device of tensile tester.
References [1] S.L.Yang, R.Sandven, L.Lin, et al.

Yang (1997) gave the stress result of boundary area of cylindrical shell and hemispherical head which had the same dimensions using finite element method.
References [1] Guoyi Yang: The application of Finite Element Method in Calculation of Boundary Area Stress Between Cylindrical Shell and Convex Heal.

Yang: Mater.
Yang: J.
Yang: J.

Yang, T.
Yang, hE-cadherin-Fc fusion protein coated surface enhances the adhesion and proliferation of human mesenchymal stem cells, Colloids Surf B Biointerfaces 109 (2013) 97-102
Tian, J.
Yang, Y.
Yang, B.

Electrical Transmission, (5):62-64 [3] Heping Liu,Xiaoling Yang & Jin Cui. 2006.
Instrument Technology and Sensor, (5): 42-44 [4] GuanCHeng Yang. 1995.

. , Shenyang 110016, China 2 University of Chinese Academy of Sciences, Beijing 100049, China a wangxiaotian@sia.cn, b yang@sia.ac.cn, c sylvyan@sia.cn Keywords: Laser engraving machine, Stepping motor, Circular interpolation, Point by point comparison Abstract.
Reference [1] Fan Yang, Bei Xiao, Zhi Liao, et al.
Journal of Mechanical Engineering. 2011, 47(3): 186-192 [7] Fan Yang, Bei Xiao, Zhi Liao, et al.