本文選題：老齡化　切入點(diǎn)：推拿　出處：《江蘇大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：目前,全球老齡化形勢(shì)日趨嚴(yán)峻,我國(guó)作為人口最多的發(fā)展中國(guó)家,老齡化問題尤其嚴(yán)重,患病老人對(duì)醫(yī)療和保健的巨大需求,成為我國(guó)必須面對(duì)的重大問題之一。當(dāng)然,也給醫(yī)療機(jī)器人帶來(lái)了前所未有的發(fā)展機(jī)遇。中醫(yī)推拿療法作為中國(guó)傳統(tǒng)醫(yī)學(xué)的重要組成部分,具有應(yīng)用范圍廣、療效突出、副作用少,普遍適用于老年、青少年、兒童、婦女等優(yōu)點(diǎn),對(duì)多種疾病卓有成效,長(zhǎng)期以來(lái)為華夏民族的健康做出了卓越貢獻(xiàn)。然而,中醫(yī)推拿由于因人因病施治,對(duì)推拿師的要求較高,推拿時(shí)間過長(zhǎng),消耗體力過大等問題也限制了中醫(yī)推拿的大范圍推廣。所以研發(fā)推拿機(jī)器人具有巨大的社會(huì)和經(jīng)濟(jì)意義。本文針對(duì)推拿機(jī)器人的功能特點(diǎn),在現(xiàn)有推拿機(jī)器人的基礎(chǔ)上,進(jìn)一步改進(jìn)其主體結(jié)構(gòu)并設(shè)計(jì)出新的推拿靈巧手。具體研究?jī)?nèi)容如下:首先,了解國(guó)內(nèi)外專家學(xué)者對(duì)推拿機(jī)器人的研究概況,總結(jié)現(xiàn)有研究存在的問題和未來(lái)推拿機(jī)器人的發(fā)展趨勢(shì),分析常用的推拿手法應(yīng)該具有的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)要求,提出常用推拿手法的功能輸出矩陣,并由此設(shè)計(jì)了中醫(yī)推拿機(jī)器人機(jī)械系統(tǒng)和控制系統(tǒng)的總體方案。其次,根據(jù)我國(guó)成年人人體尺寸標(biāo)準(zhǔn)(GB10000-88)確定推拿機(jī)械臂和靈巧手結(jié)構(gòu)的主要尺寸和活動(dòng)范圍,完成機(jī)械臂和靈巧手主要的零部件結(jié)構(gòu)設(shè)計(jì),建立推拿臂和靈巧手的虛擬樣機(jī)。同時(shí)完成推拿機(jī)械臂的外殼設(shè)計(jì),解決推拿機(jī)械臂定位移動(dòng)導(dǎo)軌的防塵和安全問題,提升推拿機(jī)器人整體的美觀性和親和力。隨后,對(duì)推拿機(jī)械臂和靈巧手的虛擬樣機(jī)進(jìn)行位置分析,得到推拿機(jī)械臂末端和靈巧手各手指末端在其相應(yīng)基坐標(biāo)系中的坐標(biāo)。利用MATLAB和ADAMS軟件對(duì)采用的方法和得出的結(jié)論進(jìn)行驗(yàn)證。通過典型手法捏法的運(yùn)動(dòng)學(xué)分析和仿真,檢驗(yàn)推拿機(jī)器人機(jī)械系統(tǒng)設(shè)計(jì)方案的可行性。最后,針對(duì)推拿機(jī)器人的控制系統(tǒng),完成推拿機(jī)器人控制系統(tǒng)的軟硬件設(shè)計(jì):包括控制器的選型、人機(jī)界面模塊的設(shè)計(jì)、電源模塊的設(shè)計(jì)、信息采集模塊的設(shè)計(jì),以及主程序設(shè)計(jì)和常用推拿手法的子程序設(shè)計(jì)。通過機(jī)器人組裝和控制,實(shí)現(xiàn)原理樣機(jī)的功能演示。
[Abstract]:At present, the aging situation in the world is getting more and more serious. As the most populous developing country, the aging problem is especially serious. The huge demand for medical care and health care for the sick elderly has become one of the major problems that our country must face. As an important part of traditional Chinese medicine, Chinese massage therapy has a wide range of applications, outstanding curative effects, few side effects, and is generally applicable to the elderly, teenagers, and children. The advantages of women, such as women, have been effective in many diseases and have made outstanding contributions to the health of the Chinese nation for a long time. However, due to the treatment of Chinese massage because of human illness, Chinese massage has a higher demand for massage teachers, and the massage time is too long. Therefore, the development of massage robot has great social and economic significance. This paper aims at the functional characteristics of massage robot, based on the existing massage robot. Further improve its main structure and design a new massage dexterous hand. The specific research contents are as follows: first, to understand the domestic and foreign experts and scholars on massage robot research overview, This paper summarizes the problems existing in the present research and the development trend of the massage robot in the future, analyzes the kinematics and dynamics requirements of the common massage manipulations, and puts forward the functional output matrix of the common massage manipulations. Based on this, the general scheme of mechanical system and control system of Chinese massage robot is designed. Secondly, according to the Chinese adult human body size standard GB10000-88), the main dimensions and moving range of massage manipulator and dexterous hand structure are determined. Complete the structure design of the main parts of the manipulator and dexterous hand, establish the virtual prototype of the massage arm and the dexterous hand. At the same time, complete the shell design of the massage arm, solve the dust prevention and safety problems of the massage arm positioning moving guide rail, Enhance the overall beauty and affinity of the massage robot. Then, analyze the position of the virtual prototype of the massage robot arm and dexterous hand. The coordinates of the end of the manipulators and the fingers of the dexterous hand in the corresponding basic coordinate system are obtained. The methods and conclusions are verified by using MATLAB and ADAMS software. The kinematics analysis and simulation of the typical manipulative kneading method are carried out. Finally, for the control system of the massage robot, the hardware and software design of the massage robot control system is completed, including the selection of the controller, the design of the man-machine interface module, The design of power supply module, information collection module, main program design and subroutine design of common massage. Through the robot assembly and control, the principle of prototype function demonstration is realized.
【學(xué)位授予單位】：江蘇大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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