【摘要】 根据中医按摩手法的运动学和动力学特征设计按摩机器人的结构并建模,然后对其进行运动学分析得到运动学方程,最后在MATLAB环境下利用Robotics工具箱针对推法进行了点到点(PTP)的直线路径运动的轨迹规划仿真。通过仿真观察到机器人各关节的运动轨迹符合要求,验证了结构设计的合理性和方案的可行性。更多还原

【Abstract】 According to the kinematics and dynamics feature of traditional Chinese massage,the structure of a massage robot is designed and the model is built.Then kinematics analysis and kinematics equations are given.By using Robotics toolbox in MATLAB,the PTP linear path planning simulation of Tui method is given.It is observed that all motion trajectories of joints are qualified,and the rationality of structure design and feasibility of the project are proved.更多还原