Metamorphic Mechanism Analysis of a Chinese Massage Robot End-Effector

摘要：

This paper introduces a Chinese massage robot metamorphic end-effector composed by parallel and serial mechanism, the numbers of whose driving elements, driven elements and kinematic pairs are variable, which can work in four different ways of Chinese medical massage techniques. In this paper, the principles of motions, mechanism composition, motion characteristics, metamorphic methods and configuration variable changes of four common massage techniques are analyzed. This metamorphic endeffector has been used in a National High Technology Research and Development Supported Program in China.

关键词： Metamorphic mechanism Chinese massage Robot End-effector

作者: Lv-Zhong Ma Peng Fei Jun Zhang Guanghong Zhao

作者单位: Institute of Intellectual Machinery and Robot, Jiangsu University, 212013, Zhenjiang, China

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 569-575

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）