本文選題：中醫(yī)按摩機(jī)器人　切入點(diǎn)：按摩裝置　出處：《山東建筑大學(xué)》2017年碩士論文

【摘要】：隨著社會(huì)發(fā)展與醫(yī)療水平的不斷提高,老齡化已經(jīng)成為一個(gè)全球現(xiàn)象,中國(guó)作為發(fā)展中國(guó)家面臨的人口老齡化問(wèn)題更為嚴(yán)重,老齡化加劇帶來(lái)的失能、患病老人增多的問(wèn)題與我國(guó)目前醫(yī)療服務(wù)行業(yè)發(fā)展不完善之間的矛盾將會(huì)日益加劇。隨著科學(xué)技術(shù)水平的不斷提高與機(jī)器人技術(shù)的日益成熟,服務(wù)型機(jī)器人的出現(xiàn)成為這一社會(huì)矛盾的最佳解決方案。中醫(yī)按摩理療作為一種輔助療法已在世界范圍內(nèi)被廣泛接受,并在治療中老年慢性疾病方面取得了不錯(cuò)的效果。因此,如何將中醫(yī)按摩理論成功應(yīng)用于機(jī)器人中成為了研究的新熱點(diǎn)。目前市場(chǎng)上流行的按摩理療設(shè)備功能單一而且智能化程度不高,更不能完全代替按摩師進(jìn)行按摩理療,因此研制中醫(yī)按摩機(jī)器人有著深遠(yuǎn)的理論意義與社會(huì)意義。在國(guó)家863計(jì)劃的支持下,山東建筑大學(xué)機(jī)器人技術(shù)與智能系統(tǒng)研究院近幾年開(kāi)展了中醫(yī)按摩機(jī)器人的研究,目前已經(jīng)完成兩代中醫(yī)按摩機(jī)器人的研制。本文在前兩代按摩機(jī)器人的基礎(chǔ)上進(jìn)行了第三代中醫(yī)按摩機(jī)器人的研制,進(jìn)行了按摩機(jī)器人的系統(tǒng)結(jié)構(gòu)設(shè)計(jì),其中對(duì)控制系統(tǒng)進(jìn)行了重點(diǎn)的研究與設(shè)計(jì)。本文的主要研究?jī)?nèi)容有:1、闡述了本課題研究的背景與意義,并研究介紹了按摩機(jī)器人的國(guó)內(nèi)外研究現(xiàn)狀;2、介紹了中醫(yī)按摩機(jī)器人的功能實(shí)現(xiàn),并對(duì)機(jī)器人系統(tǒng)的整體結(jié)構(gòu)與運(yùn)動(dòng)控制系統(tǒng)進(jìn)行了設(shè)計(jì),,進(jìn)而根據(jù)系統(tǒng)需求完成了運(yùn)動(dòng)控制器、電機(jī)驅(qū)動(dòng)模塊、電源模塊、傳感器以及上位機(jī)等設(shè)備選型與按摩機(jī)器人的按摩裝置設(shè)計(jì)3、根據(jù)中醫(yī)按摩機(jī)器人整體結(jié)構(gòu),運(yùn)用D-H建模的方法建立了按摩機(jī)器人的運(yùn)動(dòng)學(xué)模型,并完成了按摩機(jī)器人的運(yùn)動(dòng)學(xué)坐標(biāo)系的建立,對(duì)按摩機(jī)器人的運(yùn)動(dòng)學(xué)正、逆解進(jìn)行了分析和研究,最后運(yùn)用MATLAB進(jìn)行了仿真驗(yàn)證;4、為了能夠使機(jī)器人系統(tǒng)滿足安全性、可靠性、舒適性的要求,對(duì)機(jī)器人柔順控制方法進(jìn)行了研究,并將阻抗控制算法應(yīng)用到按摩機(jī)器人中,建立了按摩機(jī)器人的動(dòng)力學(xué)模型,運(yùn)用MATLAB和ADAMS進(jìn)行了中醫(yī)按摩機(jī)器人阻抗控制策略的仿真驗(yàn)證;5、介紹了按摩機(jī)器人運(yùn)動(dòng)控制系統(tǒng)的軟硬件實(shí)現(xiàn),主要包括按摩機(jī)器人控制系統(tǒng)的電氣設(shè)計(jì)和控制系統(tǒng)軟件編程實(shí)現(xiàn),最后對(duì)上位機(jī)的設(shè)計(jì)實(shí)現(xiàn)進(jìn)行了介紹;6、最后,對(duì)中醫(yī)按摩機(jī)器人系統(tǒng)進(jìn)行了調(diào)試,并以腰間盤(pán)突出病癥為例,結(jié)合腰間盤(pán)突出的病癥分析和中醫(yī)推拿手法理論知識(shí),對(duì)中醫(yī)按摩機(jī)器人按摩手法進(jìn)行了臨床試驗(yàn)驗(yàn)證。本課題將傳統(tǒng)中醫(yī)按摩手法與機(jī)器人技術(shù)相結(jié)合研制了中醫(yī)按摩機(jī)器人,能夠代替按摩師進(jìn)行按摩理療,可有效改善目前醫(yī)療保健資源有限與人口老齡趨勢(shì)嚴(yán)重的社會(huì)現(xiàn)狀,具有較高的推廣應(yīng)用價(jià)值。
[Abstract]:With the continuous improvement of social development and medical treatment, aging has become a global phenomenon. China, as a developing country, is facing a more serious problem of population aging.The contradiction between the increasing number of sick elderly and the imperfect development of medical service industry in China will be intensified day by day.With the development of science and technology and the maturity of robot technology, the emergence of service-oriented robot has become the best solution to this social contradiction.Chinese massage physiotherapy as an auxiliary therapy has been widely accepted in the world, and has achieved good results in the treatment of chronic diseases in the middle-aged and the elderly.Therefore, how to apply traditional Chinese medicine massage theory to robot has become a new research hotspot.At present, the popular massage physiotherapy equipment in the market has a single function and not a high degree of intelligence, so it is of profound theoretical and social significance to develop a massage robot in traditional Chinese medicine.With the support of the National 863 Program, the Research Institute of Robot Technology and Intelligent Systems of Shandong Construction University has carried out the research of traditional Chinese medicine massage robot in recent years, and has now completed the development of two generations of traditional Chinese medicine massage robot.Based on the previous two generations of massage robots, the third generation of traditional Chinese medicine massage robots has been developed, and the system structure of the massage robots has been designed, among which the control system has been studied and designed emphatically.The main research contents of this paper are as follows: 1. The background and significance of this research are expounded, and the present research situation of massage robot both at home and abroad is introduced, and the function realization of traditional Chinese medicine massage robot is introduced.The whole structure and motion control system of the robot system are designed, and the motion controller, motor driving module and power supply module are completed according to the system requirements.According to the whole structure of traditional Chinese medicine massage robot, the kinematics model of massage robot is established by using D-H modeling method.The kinematics coordinate system of the massage robot is established, the kinematics forward and inverse solutions of the massage robot are analyzed and studied. Finally, the simulation verification is carried out with MATLAB, in order to make the robot system meet the security and reliability.The requirements of comfort, the robot compliance control method is studied, and the impedance control algorithm is applied to the massage robot, and the dynamic model of the massage robot is established.The impedance control strategy of traditional Chinese massage robot is simulated and verified by MATLAB and ADAMS. The hardware and software realization of the motion control system of massage robot is introduced.It mainly includes the electrical design of the control system of the massage robot and the realization of the software of the control system. Finally, the design and realization of the upper computer are introduced. Finally, the system of the massage robot of traditional Chinese medicine is debugged.Taking lumbar disc herniation as an example, combined with the analysis of lumbar disc protrusion and the theoretical knowledge of Chinese massage manipulation, a clinical experiment was carried out to verify the massage manipulation of traditional Chinese medicine massage robot.This subject combines the traditional Chinese medicine massage technique with the robot technology to develop the traditional Chinese medicine massage robot, which can replace the masseuse for massage physiotherapy, and can effectively improve the current social situation of limited medical and health care resources and the serious trend of aging population.It has high value of popularization and application.
【學(xué)位授予單位】：山東建筑大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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